Storage structure and robot

Abstract

The invention discloses a storage structure. The storage structure comprises a box body, a first door body, a first motor, a first linkage part and a first screw rod. The first screw is arranged in the box body, and the first door body is in threaded connection with the first screw. And the first motor drives the first door body to move along the first screw rod through the first linkage part. The first linkage part comprises a first rotor, a first ball and a second rotor. One end of the second rotor is connected with the first screw, a first circular groove is formed in the other end of the second rotor, and the first ball is arranged in the first circular groove. The first rotor is arranged in the first circular groove and connected with the first motor, and the first motor is used for driving the first rotor to rotate. By means of the structural design of the first linkage part, the storage structure can meet opening and closing of the electric drive door body and the manual drive door body at the same time, the situation that the door bodies cannot be opened and closed due to the fact that electric power of an electric drive structure is insufficient is reduced, and the inconvenience that the storage door is opened and closed only in a manual mode is relieved.

Description

Technical Field

[0001] The present application relates to the field of robots, and in particular to a storage structure and a robot. Background Art

[0002] With the increasing use of robots, many have storage functions, requiring the use of door structures. Most robots' door opening and closing operations are performed electrically, with the doors opening and closing being achieved by the forward and reverse rotation of the motor. However, during robot operation, if there is a problem such as insufficient power or a power failure, the storage door often becomes difficult to open and close, making it inconvenient to open the door. Summary of the Invention

[0003] The present application aims to provide a storage structure, aiming to improve the convenience of opening the storage door.

[0004] In a first aspect, the present application provides a storage structure comprising a housing, a first door, a first motor, and a first screw. The housing encloses a storage cavity and has an opening communicating with the storage cavity. The first screw is disposed in the housing, the first door is threadedly connected to the first screw, and a first motor is configured to drive the first door to move along the first screw so that the first door covers at least a portion of the opening. The storage structure also includes a first linkage, which comprises a first rotor, a first ball bearing, and a second rotor. One end of the second rotor is connected to the first screw, and the other end defines a first circular groove. One end of the second rotor is connected to the first screw, enabling power transmission between the two. The first ball bearing is disposed within the first circular groove. The first rotor is disposed within the first circular groove and is connected to the first motor, which is configured to drive the first rotor to rotate within the first circular groove. The inner sidewall of the first circular groove has a first protrusion. The first rotor has a first side surface and a second side surface disposed opposite each other along its width. The first ball bearing is located between the first side surface and the inner sidewall of the first circular groove. When the second rotor rotates, the maximum distance between the first side and the first protrusion is L1, and the diameter of the first ball is D1. The relationship between L1 and D1 is: L1>D1. The maximum length of the first rotor is L2, and the diameter of the first circular groove is D3. Along the radial direction of the first circular groove, the length of the first protrusion is L3, and L2 / 2<D3 / 2-L3,L2 / 2> D3 / 2-D1.

[0005] In the above solution, the storage structure can drive the first linkage part through the first motor, and then drive the first screw to rotate, thereby driving the first door body screwed to the first screw to realize the opening and closing of the first door body. Specifically, after starting the first motor, the first motor drives the first rotor to rotate, and the first rotor rotates in the first circular groove of the second rotor. Due to the length relationship between the first rotor, the first ball and the first protrusion, when the first rotor rotates, it will move the first ball to the corner where the first protrusion is connected to the first circular groove. At this time, the first rotor presses against the first ball, and the first ball presses against the first protrusion. The first rotor drives the second rotor to rotate. Since the second rotor is connected to the first screw, the first screw rotates, thereby driving the first door body to move along the screw, thereby realizing the opening and closing of the first door body.

[0006] In the above embodiment, the storage structure can also manually open and close the door when the electric mechanism stops operating. Specifically, the first door can be opened and closed by manually pulling or pushing the first door. Manually moving the first door rotates the first screw, which in turn rotates the second rotor. Due to the length relationship between the first rotor and the first protrusion, the second rotor is not blocked by the first protrusion, and the first rotor does not block the second rotor's rotation. In other words, the movement of the first door is not hindered by the first rotor's inability to rotate due to the loss of electric driving force. In this case, since there is space between the first protrusion and the first rotor for the first ball to pass through, the first ball can roll between the first protrusion and the first rotor. During the rotation of the second rotor, the inner sidewall of the first circular groove is curved, which compresses the ball against the first or second side surface of the first rotor. Since the first rotor cannot rotate, the first ball can roll and move into the space between the first protrusion and the first rotor where the first ball can pass. As a result, the second rotor is not blocked by the first ball during rotation, and the first ball does not hinder the movement of the first door. It is understandable that, due to the faster rotation speed of the first rotor when electrically driven, the time it takes for the first ball to get stuck to the first protrusion is shorter, and it is basically impossible for the first rotor and the second rotor to be unable to get stuck due to the first ball rolling between the first rotor and the first protrusion. Even if this happens, it will get stuck normally when the first rotor rotates the second circle. Similarly, when manually driven, the second rotor rotates slower. Even if the first ball gets stuck with the first rotor, it can be manually adjusted to allow the second rotor to rotate smoothly. In summary, the storage structure can simultaneously meet the opening and closing of both electrically driven and manually driven door bodies, which not only reduces the situation where the door body cannot be opened and closed due to insufficient power in the electrically driven structure, but also alleviates the inconvenience of opening and closing the storage door in manual mode, and improves the convenience of opening the door body.

[0007] In some embodiments, the first linkage portion further includes a second ball, which is disposed in the first circular groove and is located between the second side surface and the inner sidewall of the first circular groove. The inner sidewall of the first circular groove has a second protrusion, which is disposed opposite to the first protrusion along the radial direction of the first circular groove. The diameter of the second ball is D2, and the length of the second protrusion along the radial direction of the first circular groove is L4, which has a length of L2 / 2.<D3 / 2-L4,L2 / 2> By providing a second ball bearing, and respectively arranging the first ball bearing and the second ball bearing between the first side surface and the second side surface and the inner side wall of the first circular groove, the transmission efficiency of the first linkage part can be improved, and the movement speed of the first door body can be increased.

[0008] In some embodiments, along the length of the first rotor, the distance between the midpoint of the first side surface and the first protrusion is a maximum distance L1. Maximum distance L1 is set to the distance between the midpoint of the first side surface and the first protrusion, with maximum distance L1 being farthest from the end of the first rotor. This can reduce the possibility of the first ball rolling over the first protrusion during electric drive, causing the first rotor and the second rotor to become stuck. It can also reduce the possibility of the first ball getting stuck with the end of the first rotor during manual movement of the first door, preventing manual movement of the first door.

[0009] In some embodiments, the first side surface and the second side surface are both curved surfaces convex toward the inner side wall. Providing both the first side surface and the second side surface with a curved surface can provide a guide for the first ball when the first door body is manually moved, allowing the first ball to pass more easily between the first rotor and the first protrusion.

[0010] In some embodiments, the first linkage portion further includes a first covering member connected to an end of the first rotor distal from the bottom surface of the first circular groove, the first covering member covering at least a portion of the first circular groove. Providing the first covering member can reduce the possibility of the first ball being dislodged from the first circular groove by the high-speed rotation of the first rotor during electric drive.

[0011] In some embodiments, the storage structure further includes a first guide rod. The first guide rod is disposed on the housing and is arranged parallel to the first screw. The first door body is connected to the first guide rod and is configured to move along the first guide rod. The provision of the first guide rod allows the first door body to move along the first guide rod, thereby enhancing the stability of the first door body and ensuring smoother movement.

[0012] In some embodiments, the box body includes a first side panel and a second side panel that are arranged opposite to each other, the accommodating cavity is located between the first side panel and the second side panel, and the opening is located between the first side panel and the second side panel. The first screw is arranged on the first side panel, and the first guide rod is arranged on the second side panel. The box body has a first side panel and a second side panel that are arranged opposite to each other, which makes the structure of the box body more stable and provides more attachment points for other components of the storage structure. The first screw is arranged on the first side panel, and the first guide rod is arranged on the second side panel, so that the first screw and the first guide rod are respectively on the first side panel and the second side panel that are arranged opposite to each other, thereby improving the stability of the first door body during movement.

[0013] In some embodiments, the first door body includes a first main portion, a first extension portion, and a second extension portion, wherein the first main portion is connected between the first extension portion and the second extension portion. The first main portion is disposed in the opening, the first extension portion extends to the first side panel, and the first extension portion is screwed to the first screw, and the second extension portion extends to the second side panel, and the second extension portion is connected to the first guide rod. By providing the first extension portion and the second extension portion, and connecting them to the first screw rod and the first guide rod, respectively, the stability of the first door body is enhanced as a whole, while the shielding area of ​​the first door body is increased, thereby reducing the situation where the first door body cannot be effectively closed due to insufficient shielding area.

[0014] In some embodiments, the first side plate is provided with a first guide groove, which is arranged parallel to the first guide rod and the first screw; the first extension is connected to a first guide wheel, which is arranged in the first guide groove, and the first guide wheel is used to roll along the first guide groove; and / or, the second side plate is provided with a second guide groove, which is arranged parallel to the first guide rod and the first screw; the second extension is connected to a second guide wheel, which is arranged in the second guide groove, and the second guide wheel is used to roll along the second guide groove.

[0015] By providing the first guide groove and the first guide wheel, and / or providing the first guide groove and the second guide wheel, the stability of the first door body during movement is improved, and the disturbance of the first door body in the non-displacement direction during movement is reduced. At the same time, the smoothness of the first door body when moving along the first screw is improved, especially when the first door body is moved manually, and the frustration of the screw drive is reduced.

[0016] In some embodiments, the box includes a partition, which is disposed within the accommodating cavity. The partition separates the accommodating cavity into a first cavity and a second cavity, and the partition separates the opening into a first opening and a second opening, wherein the first opening communicates with the first cavity, and the second opening communicates with the second cavity. The first door is configured to move between the first opening and the second opening, and the first door is configured to cover the first opening or the second opening. Providing a partition to separate the accommodating cavity into the first cavity and the second cavity allows the box to store different items separately, thereby improving the suitability of the box. Furthermore, the first door being configured to cover the first opening or the second opening can improve the applicability of the first door.

[0017] In some embodiments, the storage structure further includes a second door connected to the housing, with a first space defined between the second door and the opening for accommodating the first door. The second door is configured to move between the first and second openings and to cover either the first or second opening. The second door protects both the first and second storage cavities, thereby enhancing safety.

[0018] In a second aspect, the present application also proposes a robot comprising a storage box as in any embodiment of the first aspect described above.

[0019] Additional aspects and advantages of the embodiments of the present application will be described, shown, or explained in part in the following description through implementation of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] One or more embodiments are exemplarily described by the figures in the accompanying drawings, which are not intended to limit the embodiments. Elements with the same reference numerals in the drawings represent similar elements.

[0021] Figure 1 This is a schematic diagram of the storage structure of some embodiments of the present application;

[0022] Figure 2 This is a schematic diagram of the box structure of some embodiments of the present application;

[0023] Figure 3 This is a schematic diagram of the storage structure portion of some embodiments of the present application;

[0024] Figure 4 This is a schematic structural diagram of the first linkage part in some embodiments of the present application;

[0025] Figure 5 Schematic cross-sectional view of a first rotor and a second rotor according to some embodiments of the present application;

[0026] Figure 6This is a schematic cross-sectional view of the first rotor and the second rotor operating in the electric mode according to some embodiments of the present application;

[0027] Figure 7 This is a schematic cross-sectional view of the first rotor and the second rotor in some embodiments of the present application working in manual mode;

[0028] Figure 8 Schematic cross-sectional view of a first rotor and a second rotor according to some embodiments of the present application;

[0029] Figure 9 This is a schematic diagram of the first door structure of some embodiments of the present application;

[0030] Figure 10 This is a schematic structural diagram of the first rotor (including length and width directions) in some embodiments of the present application.

[0031] Figure 11 This is a schematic structural diagram of the first rotor (including length and width directions) in some embodiments of the present application.

[0032] Description of reference numerals:

[0033] 1. Box body; 11. Accommodation cavity; 111. First cavity; 112. Second cavity; 12. Opening; 121. First opening; 122. Second opening; 13. First side panel; 131. First guide groove; 14. Second side panel; 141. Second guide groove; 15. Partition;

[0034] 2. First door body; 21. First main body; 22. First extension; 221. First guide wheel; 23. Second extension; 231. Second guide wheel;

[0035] 3. First motor;

[0036] 4. First linkage portion; 41. First rotor; 411. First side surface; 412. Second side surface; 42. Second rotor; 421. First circular groove; 4211. First protrusion; 4212. Second protrusion; 43. First ball bearing; 44. Second ball bearing; 45. First cover member;

[0037] 5. First screw;

[0038] 6. First guide rod;

[0039] 7. The second door. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly described below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments.

[0041] References to "embodiments" in this application mean that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments.

[0042] In the description of the embodiments of this application, the technical terms "first" and "second" are used only to distinguish different objects and should not be understood to indicate or imply relative importance or implicitly specify the quantity, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, the meaning of "plurality" is more than two, unless otherwise clearly and specifically defined.

[0043] The technical features involved in the different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0044] First, this application proposes a storage structure, please refer to Figure 1 The storage structure includes a box body 1, a first door body 2, a first motor 3, a first linkage part 4, and a first screw 5. The first screw 5 is provided on the box body 1, and the first door body 2 is screwed to the first screw 5. The first motor 3 drives the first door body 2 to move along the first screw 5 through the first linkage part 4.

[0045] For the above box 1, please refer to Figure 2 and Figure 3 . The box body 1 encloses a accommodating cavity 11, and the box body 1 is provided with an opening 12 communicated with the accommodating cavity 11. It is understandable that the box body 1 can be set to different shapes according to needs, and the accommodating cavity 11 can be set to different shapes according to the stored goods, and the shapes of the box body 1 and the accommodating cavity 11 can be different. For example, the box body 1 can be set to have an outer contour of a prism, and the accommodating cavity 11 can be set to a sphere. Similarly, the shape of the opening 12 can also be set according to needs. The first motor 3 is used to drive the first door body 2 to move along the first screw 5 and make the first door body 2 cover at least part of the opening 12. For the first motor 3, a common motor in the industry can be used, or a worm gear motor can be used. The use of a worm gear motor in conjunction with a screw for transmission can generate a larger torque and run more smoothly.

[0046] For the first linkage part 4, please refer to Figure 4 and Figure 5The first linkage part 4 includes a first rotor 41 , a first ball 43 and a second rotor 42 .

[0047] One end of the second rotor 42 is connected to the first screw 5 , and the other end of the second rotor 42 is provided with a first circular groove 421 , in which the first ball 43 is disposed. It is understood that the first ball 43 can roll in the first circular groove 421 .

[0048] The first rotor 41 is disposed in the first circular groove 421 and is connected to the first motor 3. The first motor 3 is used to rotate the first rotor 41. It is understood that the first rotor 41 and the second rotor 42 rotate coaxially.

[0049] Please refer to Figure 8 The inner sidewall of the first circular groove 421 has a first protrusion 4211. Along the width of the first rotor 41, the first rotor 41 includes a first side surface 411 and a second side surface 412 that are opposite each other. The first ball 43 is located between the first side surface 411 and the inner sidewall of the first circular groove 421. When the second rotor 42 rotates, the maximum distance L1 between the first side surface 411 and the first protrusion 4211 is greater than the diameter D1 of the first ball 43, and L1>D1.

[0050] The length direction of the first rotor 41 is the direction of the longest line connecting the two ends of the first rotor 41 through the geometric center of the first rotor 41 when viewed in a direction perpendicular to the rotation plane of the first rotor 41 . The width direction of the first rotor 41 is the direction of the shortest line connecting the two ends of the first rotor 41 through the geometric center of the first rotor 41 when viewed in the rotation plane of the first rotor 41 .

[0051] It is understood that the length direction of the first rotor 41 and the width direction of the first rotor 41 intersect at the geometric center of the first rotor 41. Figure 10 and Figure 11 For example, if the first rotor 41 is rectangular when viewed from its rotation plane, the length direction is the direction of the line along which the rectangle's diagonal lies, i.e., along line a. The width direction is the direction of the line through the rectangle's geometric center and parallel to its short side, i.e., along line b. For example, if the first rotor 41 is elliptical when viewed from its rotation plane, the length direction is the direction of its major axis, i.e., along line c. The width direction is the direction of its minor axis, i.e., along line d.

[0052] Please refer to Figure 8。The maximum length of the first rotor 41 is L2, the diameter of the first circular groove 421 is D3, and along the radial direction of the first circular groove 421, the length of the first protrusion 4211 is L3, and L2 / 2 < D3 / 2 - L3, L2 / 2 > D3 / 2 - D1. It can be understood that, among them, the maximum length of the first rotor 41 refers to the maximum length of the first rotor 41 along the geometric center in its rotation plane. For example, for the first rotor 41 that is rectangular when viewed from the rotation plane, its length is the length of the longer diagonal. For example, for the first rotor 41 that is elliptical when viewed from the rotation plane, its length is the length of its long axis.

[0053] In the above solution, the storage structure can drive the first linkage part 4 through the first motor 3, and then drive the first screw 5 to rotate, thereby driving the first door body 2 screwed to the first screw 5 to realize the opening and closing of the first door body 2, and then adjust the size of the opening 12. Specifically, please refer to Figure 6 。After starting the first motor 3, the first motor 3 drives the first rotor 41 to rotate. The first rotor 41 rotates in the first circular groove 421 of the second rotor 42. Due to the length relationship between the first rotor 41, the first ball 43, and the first protrusion 4211, L2 / 2 < D3 / 2 - L3, L2 / 2 > D3 / 2 - D1. When the first rotor 41 rotates, it will push the first ball 43 to the corner where the first protrusion 4211 is connected to the first circular groove 421. At this time, the first rotor 41 abuts against the first ball 43, the first ball 43 abuts against the first protrusion 4211, and the first rotor 41 drives the second rotor 42 to rotate. Since the second rotor 42 is connected to the first screw 5, the first screw 5 rotates, thereby driving the first door body 2 to move along the screw, so as to realize the opening and closing of the first door body 2.

[0054] In the above solution, the storage structure can also realize the opening and closing of the door body manually when the electric mechanism stops working. Specifically, please refer to Figure 7 。By pulling or pushing the first door body 2 by hand, the opening and closing of the first door body 2 can be realized. When the first door body 2 is moved manually, it will drive the first screw 5 to rotate, and the first screw 5 will drive the second rotor 42 to rotate. At this time, the first rotor 41 does not move. Due to the length relationship between the first rotor 41 and the first protrusion 4211, L2 / 2 < D3 / 2 - L3. Figure 7 Taking this as an example, the first ball 43 is located between the first rotor 41 and the first protrusion 4211 and will not be stuck. Therefore, the second rotor 42 will not be abutted by the first protrusion 4211, and the first rotor 41 will not block the rotation of the second rotor 42, that is, the movement of the first door body 2 will not be hindered because the first rotor 41 loses the electric driving force and cannot rotate. At this time, since there is a space between the first protrusion 4211 and the first rotor 41 that allows the first ball 43 to pass through, the first ball 43 can roll between the first protrusion 4211 and the first rotor 41.

[0055] In summary, in the above scheme, the motor and screw connection device can be divided into a motor-powered working state and a manual working state. When the first motor 3 is powered, it drives the first rotor 41, and the first ball 43 is stuck in the first circular groove 421, driving the second rotor 42 to rotate, thereby driving the first screw 5 to rotate to control the movement of the first door body 2. In the manual working state, the first motor 3 is not powered, and the first door body 2 is manually pushed and pulled. The first ball 43 rolls in the first circular groove 421 and does not participate in the transmission action. The first door body 2 can be moved and opened and closed manually.

[0056] During rotation of the second rotor 42, the curved inner sidewall of the first circular groove 421 exerts a compressive force on the ball bearings against the first side surface 411 or the second side surface 412 of the first rotor 41. Since the first rotor 41 cannot rotate, the first ball bearings 43 are able to roll, and they roll into the space between the first protrusion 4211 and the first rotor 41, allowing the first ball bearings 43 to pass through. Consequently, the second rotor 42 is not obstructed by the first ball bearings 43 during rotation, meaning that the first ball bearings 43 do not hinder the movement of the first door body 2. It is understood that due to the high rotation speed of the first rotor 41 during electric drive, the time it takes for the first ball bearings 43 to become stuck in the first protrusion 4211 is relatively short. Therefore, the first rotor 41 and the second rotor 42 are unlikely to become unstuck due to the first ball bearings 43 rolling between the first rotor 41 and the first protrusion 4211. Even if this were to occur, the first rotor 41 would normally engage after the second rotation of the first rotor 41. Similarly, when manually driven, the second rotor 42 rotates slowly. Even if the first ball 43 and the first rotor 41 become stuck, manual adjustment can be performed to allow the second rotor 42 to rotate smoothly. In summary, this storage structure can simultaneously meet the requirements of both electrically driven and manually driven door opening and closing. This not only reduces the situation where the electrically driven structure cannot open or close due to insufficient power, but also alleviates the inconvenience of opening and closing the storage door in manual mode.

[0057] In some embodiments, please refer to Figure 5 and Figure 8 The first linkage portion 4 further includes a second ball 44 . The second ball 44 is disposed in the first circular groove 421 . The second ball 44 is located between the second side surface 412 and the inner sidewall of the first circular groove 421 .

[0058] The inner wall of the first circular groove 421 has a second protrusion 4212. Along the radial direction of the first circular groove 421, the second protrusion 4212 is arranged opposite to the first protrusion 4211. The diameter of the second ball 44 is D2. Along the radial direction of the first circular groove 421, the length of the second protrusion 4212 is L4.<D3 / 2-L4,L2 / 2> By providing the second ball 44 and respectively arranging the first ball 43 and the second ball 44 between the first side surface 411 and the second side surface 412 and the inner side wall of the first circular groove 421, the transmission stability of the first linkage part 4 can be improved, and the moving speed of the first door body 2 can be increased.

[0059] In some embodiments, along the length of the first rotor 41, the distance between the midpoint of the first side surface 411 and the first protrusion 4211 is a maximum distance L1. The maximum distance L1 is set to be the distance between the midpoint of the first side surface 411 and the first protrusion 4211, with the maximum distance L1 being farthest from the ends of the first rotor 41. With this arrangement, during electric drive, because the midpoint of the first side surface 411 is relatively far from both ends of the lengthwise direction of the first rotor 41, the ends of the lengthwise direction of the first rotor 41 are more likely to push against the first balls 43, and the first balls 43 are less likely to pass between the first protrusion 4211 and the first rotor 41. This facilitates the first balls 43 to press against the first protrusion 4211, thereby enabling the first rotor 41 to engage with the second rotor 42.

[0060] In some embodiments, please refer to Figure 5 The first side surface 411 and the second side surface 412 are both curved surfaces that protrude toward the inner side wall. Providing curved surfaces for the first side surface 411 and the second side surface 412 can provide guidance for the first ball 43 when the first door body 2 is manually moved, allowing the first ball 43 to pass more easily between the first rotor 41 and the first protrusion 4211.

[0061] In some embodiments, please refer to Figure 4 The first linkage portion 4 also includes a first covering member 45. The first covering member 45 is connected to the end of the first rotor 41 away from the bottom surface of the first circular groove 421. The first covering member 45 covers at least a portion of the first circular groove 421. The provision of the first covering member 45 can prevent the first ball 43 from being dislodged from the first circular groove 421 by the high-speed rotation of the first rotor 41 during electric drive.

[0062] In some embodiments, please refer to Figure 3The storage structure further includes a first guide rod 6. The first guide rod 6 is provided on the box body 1 and is arranged parallel to the first screw rod 5. The first door body 2 is connected to the first guide rod 6 and is configured to move along the first guide rod 6. The provision of the first guide rod 6 allows the first door body 2 to move along the first guide rod 6, thereby enhancing the stability of the first door body 2 and making the first door body 2 more stable during movement.

[0063] In some embodiments, please refer to Figure 3 . The box body 1 includes a first side panel 13 and a second side panel 14 that are arranged opposite to each other, the accommodating cavity 11 is located between the first side panel 13 and the second side panel 14, and the opening 12 is located between the first side panel 13 and the second side panel 14. The first screw 5 is arranged on the first side panel 13, and the first guide rod 6 is arranged on the second side panel 14. The box body 1 has a first side panel 13 and a second side panel 14 that are arranged opposite to each other, which makes the structure of the box body 1 more stable and provides more attachment points for other components of the storage structure. The first screw 5 is arranged on the first side panel 13, and the first guide rod 6 is arranged on the second side panel 14, so that the first screw 5 and the first guide rod 6 are respectively on the first side panel 13 and the second side panel 14 that are arranged opposite to each other, thereby improving the stability of the first door body 2 during movement.

[0064] In some embodiments, please refer to Figure 3 and Figure 9 The first door body 2 includes a first main body portion 21, a first extension portion 22 and a second extension portion 23, and the first main body portion 21 is connected between the first extension portion 22 and the second extension portion 23. The first main body portion 21 is arranged at the opening 12, the first extension portion 22 extends to the first side panel 13, and the first extension portion 22 is screwed to the first screw 5, the second extension portion 23 extends to the second side panel 14, and the second extension portion 23 is connected to the first guide rod 6. By providing the first extension portion 22 and the second extension portion 23, and connecting them to the first screw 5 and the first guide rod 6 respectively, the stability of the first door body 2 is enhanced as a whole, while the shielding area of ​​the first door body 2 is increased, and the situation where the first door body 2 cannot be effectively closed due to insufficient shielding area is reduced.

[0065] In some embodiments, please refer to Figure 2 and Figure 3. The first side plate 13 is provided with a first guide groove 131, and the first guide groove 131 is arranged parallel to the first guide rod 6 and the first screw rod 5. The first extension portion 22 is connected to a first guide wheel 221, and the first guide wheel 221 is arranged in the first guide groove 131, and the first guide wheel 221 is used to roll along the first guide groove 131. And / or, the second side plate 14 is provided with a second guide groove 141, and the second guide groove 141 is arranged parallel to the first guide rod 6 and the first screw rod 5. The second extension portion 23 is connected to a second guide wheel 231, and the second guide wheel 231 is arranged in the second guide groove 141, and the second guide wheel 231 is used to roll along the second guide groove 141. By providing the first guide groove 131 and the first guide wheel 221, and / or providing the first guide groove 131 and the second guide wheel 231, the stability of the first door body 2 during movement is improved, and the disturbance of the first door body 2 in the non-displacement direction during movement is reduced. At the same time, the smoothness of the movement of the first door body 2 along the first screw 5 is improved, especially when the first door body 2 is moved manually, the frustration of the screw transmission is reduced.

[0066] In some embodiments, please refer to Figure 3 The box body 1 includes a partition 15, which is arranged in the accommodating cavity 11. The partition 15 divides the accommodating cavity 11 into a first cavity 111 and a second cavity 112, and the partition 15 divides the opening 12 into a first opening 121 and a second opening 122. The first opening 121 is in communication with the first cavity 111, and the second opening 122 is in communication with the second cavity 112. The first door body 2 is used to move between the first opening 121 and the second opening 122, and the first door body 2 is used to cover the first opening 121 or the second opening 122. The partition 15 is provided to divide the accommodating cavity 11 into the first cavity 111 and the second cavity 112, so that the box body 1 can store different items separately, thereby improving the applicability of the box body 1. At the same time, the first door body 2 is used to cover the first opening 121 or the second opening 122, which can improve the versatility of the first door body 2.

[0067] In some embodiments, please refer to Figure 1. The storage structure also includes a second door body 7, which is connected to the box body 1, and there is a first space (not shown in the figure) between the second door body 7 and the opening 12, and the first space is used to accommodate the first door body 2. The second door body 7 is used to move between the first opening 121 and the second opening 122, and the second door body 7 is used to cover the first opening 121 or the second opening 122. By providing the second door body 7, the items in the first cavity 111 and the second cavity 112 can be protected at the same time, thereby improving the safety performance. It can be understood that the structural setting of the second door body 7 can be similar to the structural setting of the first door body 2, and the electric drive mode and / or manual drive mode of the second door body 7 can be achieved by providing a structure similar to or identical to the first motor 3, the first linkage part 4 and the first screw 5. In addition, a structure similar to or identical to the first guide rod 6, the first guide groove 131 and the first guide wheel 221 can be provided to improve the stability of the second door body 7 when moving.

[0068] In a second aspect, the present application also proposes a robot comprising a storage structure as in any embodiment of the first aspect described above.

[0069] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Based on the concept of the present application, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes in different aspects of the present application as described above. For the sake of simplicity, they are not provided in detail. Although the present application has been described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A storage structure, comprising a box, a first door, a first motor, and a first screw, wherein the box encloses a receiving cavity and is provided with an opening communicating with the receiving cavity; the first screw is provided in the box, the first door is screwed to the first screw, and the first motor is used to drive the first door to move along the first screw so that the first door covers at least a portion of the opening, characterized in that: The storage structure further includes a first linkage portion, which includes a first rotor, a first ball bearing, and a second rotor; One end of the second rotor is connected to the first screw, and the other end of the second rotor is provided with a first circular groove, and the first ball is disposed in the first circular groove; The first rotor is disposed in the first circular groove and is connected to the first motor, and the first motor is used to drive the first rotor to rotate; The inner sidewall of the first circular groove has a first protrusion. Along the width direction of the first rotor, the first rotor includes a first side surface and a second side surface disposed opposite to each other. The first ball is located between the first side surface and the inner sidewall of the first circular groove. When the second rotor rotates, the maximum distance between the first side surface and the first protrusion is L1. The diameter of the first ball is D1, and L1>D1. The maximum length of the first rotor is L2, the diameter of the first circular groove is D3, and the length of the first protrusion along the radial direction of the first circular groove is L3, and L2 / 2<D3 / 2-L3,L2 / 2> D3 / 2-D1.

2. The storage structure according to claim 1, characterized in that: The first linkage portion further includes a second ball, the second ball being disposed in the first circular groove, and the second ball being located between the second side surface and the inner sidewall of the first circular groove; The inner side wall of the first circular groove has a second protrusion, and along the radial direction of the first circular groove, the second protrusion is arranged opposite to the first protrusion; the diameter of the second ball is D2, and along the radial direction of the first circular groove, the length of the second protrusion is L4, and L2 / 2<D3 / 2-L4,L2 / 2> D3 / 2-D2.

3. The storage structure according to claim 1, characterized in that: The first linkage portion further includes a first covering member. An end of the first rotor away from the bottom surface of the first circular groove is connected to the first covering member, and the first covering member covers at least a portion of the first circular groove.

4. The storage structure according to claim 1, characterized in that: The storage structure also includes a first guide rod; the first guide rod is arranged on the box body, the first guide rod is arranged parallel to the first screw rod, the first door body is connected to the first guide rod, and the first door body is used to move along the first guide rod.

5. The storage structure according to claim 4, characterized in that: The box body includes a first side plate and a second side plate that are opposite to each other, the accommodating cavity is located between the first side plate and the second side plate, and the opening is located between the first side plate and the second side plate; The first screw rod is arranged on the first side plate, and the first guide rod is arranged on the second side plate.

6. The storage structure according to claim 5, characterized in that: The first door body includes a first main body portion, a first extension portion and a second extension portion, wherein the first main body portion is connected between the first extension portion and the second extension portion; The first main body is arranged at the opening, the first extension extends to the first side plate and is screwed to the first screw, the second extension extends to the second side plate and is connected to the first guide rod.

7. The storage structure according to claim 6, characterized in that: The first side plate is provided with a first guide groove, and the first guide groove is arranged parallel to the first guide rod and the first screw rod; the first extension portion is connected to a first guide wheel, and the first guide wheel is arranged in the first guide groove, and the first guide wheel is used to roll along the first guide groove; and / or, The second side plate is provided with a second guide groove, which is arranged parallel to the first guide rod and the first screw rod; the second extension portion is connected to a second guide wheel, which is arranged in the second guide groove and is used to roll along the second guide groove.

8. The storage structure according to claim 1, characterized in that: The box body includes a partition, which is arranged in the accommodating cavity, the partition dividing the accommodating cavity into a first cavity and a second cavity, and the partition dividing the opening into a first opening and a second opening, the first opening communicating with the first cavity, and the second opening communicating with the second cavity; The first door is used to move between the first opening and the second opening, and is used to cover the first opening or the second opening.

9. The storage structure according to claim 8, characterized in that: The storage structure further includes a second door body, the second door body is connected to the box body, and a first space is defined between the second door body and the opening, the first space being used to accommodate the first door body; The second door is used to move between the first opening and the second opening, and is used to cover the first opening or the second opening.

10. A robot, characterized in that: Comprising the storage structure according to any one of claims 1 to 9.

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