Door lock opening and closing actuator and execution mode thereof

Abstract

The invention relates to the technical field of door lock opening and closing tools, and discloses a door lock opening and closing actuator and an actuating mode thereof.The door lock opening and closing actuator comprises a clamping assembly, an unlocking assembly and a door abutting assembly, and the unlocking assembly and the door abutting assembly are installed on the clamping assembly through a fixing frame; the clamping assembly comprises a driving unit and a clamping jaw, two rolling wheels which are installed in a staggered mode are oppositely arranged on the clamping jaw, and when the clamping jaw is closed, the two rolling wheels are arranged front and back; the unlocking assembly comprises a motor and a base, the motor is installed on the fixing frame, an output shaft at the front end of the motor is fixedly sleeved with the base, a key is arranged at the front end of the base, the door abutting assembly comprises an elastic body support and a first elastic element, the elastic body support is arranged on the fixing frame, and the first elastic element is installed on the front end face of the elastic body support. According to the mechanical arm, an original door lock opening mode needing arc pulling is converted into a motion path capable of retreating along a straight line through structure optimization, and the operation task and control complexity of the mechanical arm are remarkably simplified.

Description

Technical Field

[0001] This invention relates to the field of door lock opening and closing tools, and more specifically to a door lock opening and closing actuator and its execution method. Background Technology

[0002] In the operation and maintenance of power systems, the safe maintenance of high-voltage switchgear is a crucial aspect of ensuring stable power operation. During maintenance, the cabinet door must be opened first before circuit breakers can be pulled out for maintenance. However, traditional switchgear door locking mechanisms are complex. Opening typically requires first rotating the key to unlock, then pulling the handle along an arc to open the door. When closing, the lock often automatically returns to its initial closed position under gravity, requiring the door to be pushed firmly, the lock pulled up, and then pressed down to lock after the door is fully closed. This entire process is cumbersome and lacks stability. Existing mechanical grippers generally only have linear clamping capabilities, making it difficult to complete the complex door opening and closing operations described above. Therefore, the current safe maintenance of high-voltage switchgear suffers from the following shortcomings:

[0003] 1. Existing door lock structures are complex to operate and have an arc-shaped movement trajectory, making it difficult for robotic arms to adapt efficiently, resulting in high difficulty in automating the maintenance of switch cabinets;

[0004] 2. Traditional door locks require manual intervention to close the cabinet door and pull up the lock, which is cumbersome and difficult to automate, resulting in poor stability.

[0005] 3. Existing mechanical grippers or actuators lack the ability to adapt to complex door lock opening and closing paths, making it difficult to meet the automatic opening and closing requirements of switch cabinet door locks. Summary of the Invention

[0006] In view of this, the present invention provides a door lock opening and closing actuator and its execution method. The actuator transforms the original door lock opening method, which required arc pulling, into a motion path that can move backward along a straight line through structural optimization, which significantly simplifies the operation tasks and control complexity of the robotic arm.

[0007] To achieve the above objectives, the present invention provides a door lock opening and closing actuator, comprising a clamping assembly for clamping a door lock handle, an unlocking assembly for opening and closing a door lock cylinder, and a door-stopping assembly for abutting a cabinet door. A fixing frame is provided above the clamping assembly, and the unlocking assembly and the door-stopping assembly are mounted on the clamping assembly via the fixing frame.

[0008] The clamping assembly includes a drive unit and a gripper. The gripper is mounted on the front end of the drive unit. Two staggered rollers are arranged opposite each other on the gripper. The drive unit drives the gripper to open and close. When the gripper is closed, the two rollers are arranged in a front-to-back configuration.

[0009] The unlocking assembly comprises a motor, a base, the motor is installed on a fixing frame, the base is fixedly sleeved on an output shaft at the front end of the motor, and the front end of the base is provided with a key;

[0010] The door closing assembly comprises an elastic body support and a first elastic element, the elastic body support is arranged on the fixing frame, the first elastic element is installed on the front end surface of the elastic body support, and the front end part of the first elastic element is longer than the front end part of the clamping jaw when the first elastic element is in the initial state.

[0011] Preferably, the front end of the base extends outward in the axial direction and is provided with a shaft connecting part, the key is slidably connected with the base through the shaft connecting part, a second elastic element is installed between the base and the key, and the second elastic element is used for generating an acting force for moving the key away from the motor and the base.

[0012] Preferably, the tail end of the key is provided with a mounting hole, the hole opening profile of the mounting hole matches the profile of the shaft connecting part on the base, the shaft connecting part is used for driving the key to rotate and sliding the key along the axial direction of the base.

[0013] Preferably, the base is provided with an outer shell, the key and the second elastic element are located in the outer shell, and the outer shell is used for limiting the sliding range of the key.

[0014] Preferably, the second elastic element is installed in the inner part of the outer shell in a pre-pressing mode.

[0015] Preferably, the front end part of the first elastic element is provided with a buffer block, which is used for preventing the first elastic element from damaging the cabinet door when the first elastic element contacts the cabinet door.

[0016] Preferably, when the clamping jaw is opened, the middle opening width is greater than the width of the door lock handle, and when the clamping jaw is closed, the door lock handle is located between the two rollers.

[0017] Preferably, the tail part of the driving unit is fixedly installed with a connecting piece, and the connecting piece is used for being connected with the end of the operation mechanical arm.

[0018] The door lock opening and closing execution mode provided by the application is applied to the door lock opening and closing executor, and comprises:

[0019] When the door lock needs to be opened, the clamping jaw is in the open state, the key is aligned with the door lock hole, the door lock cylinder is unlocked, then the clamping jaw moves to the position of the door lock handle and is clamped, at this time, the door lock handle is located between the two rollers, when the clamping assembly is translated backward, the inner side of the door lock handle is tightly attached to the roller on the outer side, because the door lock opening and closing track is an arc, therefore, the contact surface between the inner side of the door lock handle and the roller changes constantly, the roller rotates together with the inner side of the handle, and the door lock is opened.

[0020] When the door lock needs to be closed, it will fall back to its initial closed position due to gravity. At this time, the jaws open and the clamping assembly moves towards the cabinet door so that the door lock handle is between the two rollers. The jaws close and the clamping assembly moves backward. At this time, the buffer block will hold the cabinet door in place due to the action of the first elastic element, so that the cabinet door will not open outward with the opening and closing of the door lock. The cabinet door remains closed. When the door lock is pulled open to the lockable state, the clamping assembly moves towards the cabinet door again. At this time, the door lock will be resisted by the cabinet door when it is locked, so that the outer side of the door lock handle is pressed tightly against the inner roller. Under the force of the inner roller, the door lock is fully closed.

[0021] Preferably, after the buffer block contacts the cabinet door, it compresses the first elastic element. The reaction force generated by the compression holds the cabinet door in place, reducing the friction between the internal structure of the door lock and the cabinet door, and reducing the unlocking resistance. After the door lock is fully opened, the first elastic element is fully released, and the clamping claws can be opened.

[0022] As can be seen from the above technical solution, compared with the prior art, the door lock opening and closing actuator and its execution method provided by the present invention have the following beneficial effects:

[0023] 1. This actuator simplifies the control logic of the robotic arm by transforming the original door lock opening path, which required pulling along an arc, into a linear backward motion. This reduces the difficulty of path planning and execution, and significantly improves the automation level of the switch cabinet door lock operation.

[0024] 2. This actuator is equipped with a dedicated unlocking mechanism, which can automatically open and close the door lock hole, avoiding manual intervention and improving the intelligence level of the system. It is suitable for the needs of remote or unmanned maintenance of high-voltage switchgear in power systems.

[0025] 3. This actuator integrates a flexible door-stopping component. When the actuator's gripper pulls the door lock backward, this component can provide reliable support for the cabinet door, preventing the cabinet door from moving backward with the gripper, thereby ensuring the stability of the door lock's path and the consistency of its actions during the opening process.

[0026] 4. During the door lock closing process, the first elastic element in the door-stopping assembly of this actuator can assist in stopping the cabinet door and pulling up the door lock, effectively assisting the door lock to enter the lockable state, avoiding locking failure due to structural fall or operational deviation, and improving the overall safety and reliability of operation.

[0027] 5. The actuator has a compact overall structure and strong adaptability, and can be easily integrated into existing power inspection robots or automatic maintenance systems, which has good engineering practical value and promotion prospects. Attached Figure Description

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings described below are only a part of the embodiments of the present application, and should not be considered as limitations of the whole embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present application.

[0029] Figure 1 The overall structure schematic diagram of the door lock opening and closing actuator of the present application;

[0030] Figure 2 The explosion view of the lock opening assembly of the present application;

[0031] Figure 3 The sectional view of the lock opening assembly of the present application;

[0032] Figure 4 The lock cylinder operation state schematic diagram of the door lock opening and closing actuator of the present application;

[0033] Figure 5 The lock opening initial state schematic diagram of the lock opening assembly of the present application;

[0034] Figure 6 The lock closing initial state schematic diagram of the lock opening assembly of the present application.

[0035] Legend: 1, clamping assembly; 11, driving unit; 12, clamping jaw; 13, roller;

[0036] 2, lock opening assembly; 21, motor; 22, base; 23, second elastic element; 24, shell; 25, key;

[0037] 3, door abutting assembly; 31, elastic body support; 32, first elastic element; 33, buffer block;

[0038] 4, fixing frame; 5, connecting plate. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the present application will be described clearly and completely below with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, and should not be considered as limitations of the whole embodiments of the present application. The following description of one exemplary embodiment is actually only illustrative, and should not be considered as any limitation on the present application and its application or use. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present application.

[0040] Please refer to the drawings of the present application Figures 1-6The door lock opening and closing executor provided by the application converts the original door lock opening mode of arc line pulling into a movement path of linear retreat through structural optimization, significantly simplifies the operation task and control complexity of the mechanical arm, and further integrates a set of elastic telescopic device to automatically resist the cabinet door and synchronously pull up the door lock during the cabinet door closing process, so that the door lock smoothly enters the locking state, thereby improving the operation reliability and automation degree.

[0041] As shown in Figure 1 The door lock opening and closing executor provided by the application includes a clamping assembly 1, a lock opening assembly 2 and a door resisting assembly 3, wherein the clamping assembly 1 is used as a core execution component to clamp the door lock handle, a fixed frame 4 is fixedly connected above the clamping assembly 1, and the fixed frame 4 is fixedly connected with the lock opening assembly 2 and the door resisting assembly 3, so that the clamping assembly 1, the lock opening assembly 2 and the door resisting assembly 3 are installed, forming an integrated structure with "one body and three functions", and ensuring that the components are synchronous and stable during operation.

[0042] The clamping assembly 1 includes a driving unit 11, the driving unit 11 is fixedly installed with a clamping jaw 12 at the front end, and the clamping jaw 12 is laterally installed with a roller 13. When the clamping jaw 12 is completely closed, the two oppositely arranged rollers 13 are arranged in front and back positions, and exactly form a "wrap type clamping" of the door lock handle, which can avoid clamping too tightly to cause deformation of the handle, and can also adapt to the arc line movement of the handle through the rotation of the roller. Through the rotation of the roller 13, the arc line movement of the handle is decomposed into a composite movement of "mechanical arm linear retreat + roller self-rotation", and the mechanical arm does not need to plan a complex arc line trajectory.

[0043] Specifically, the driving unit 11 is a motor driving gear, the gear rotation drives the movement of the double-sided rack, and the double-sided rack is connected with the two clamping jaws 12 respectively, so as to realize the operation of opening and closing the two clamping jaws 12 driven by the motor. In addition, the driving unit 11 can also adopt a motor driving bidirectional screw, and the clamping jaws 12 are connected to different nuts of the bidirectional screw, so as to realize the operation of opening and closing the clamping jaws driven by the motor.

[0044] It should be noted that a connecting piece 5 or the like connecting structure can be fixedly installed at the tail of the driving unit 11 according to the specific use condition, which is used to be connected with the end of the operation mechanical arm, so as to be compatible with the installation size of different models of mechanical arms.

[0045] As shown in Figure 2 , Figure 3 The lock opening assembly 2 is used to realize the automatic unlocking and locking of the door lock cylinder, and includes a motor 21, a base 22 and a key 25. The motor 21 is used to provide a rotating driving force, the output shaft of the motor 21 is sleeved with the base 22, and the front end of the base 22 is provided with the key 25.

[0046] In order to facilitate use, the unlocking assembly 2 further comprises a second elastic element 23, an outer shell 24, and a slidable connection between the key and the base 22. The tail end of the key 25 is provided with a mounting hole, the hole is matched with the contour of the shaft part provided on the base 22, the shaft part is a non-cylindrical structure to form a stop action on the circumference of the key 25, so that the base 22 can drive the key 25 to rotate synchronously, and it is ensured that the key 25 can slide on the base 22 in the axial direction. The shaft part protruding from the base 22 is sleeved with the second elastic element 23 (such as a spring ring, a spring piece, etc.), and the two ends of the second elastic element 23 abut (or connect) the end face of the base 22 and the tail end of the key 25, respectively, and are installed in a pre-pressed state. The second elastic element 23 generates a certain elastic pushing force on the key 25, so that the key 25 is always located away from the motor 21 in the default state. The outer shell 24 is fixedly connected to the base 22, and the sliding range of the key 25 can be limited and the overall structure can be protected by providing a limiting step on the inner wall of the front end of the outer shell 24, thereby isolating dust and water vapor from eroding the internal structure.

[0047] When the key 25 does not contact the lock hole, it remains in the extended state under the pushing force of the second elastic element 23. When the key 25 is inserted into the lock hole due to the inconsistent angle of the lock cylinder, the key 25 will retract axially and compress the second elastic element 23 under the action of external force. The second elastic element 23 forms a flexible buffer, thereby avoiding strong insertion, jamming or damage to the lock cylinder.

[0048] The motor 21 starts to drive the key 25 to rotate. Even if the angle is not aligned, when the angle is consistent during the rotation of the key 25, the second elastic element 23 will be released, so that the key 25 is inserted into the lock hole to complete the unlocking or locking operation.

[0049] The door abutting assembly 3 comprises an elastic body support 31 fixedly connected with the fixed frame 4, and the elastic body support 31 clamps the first elastic element 32 (such as an elastic retractable rod, a multi-stage telescopic gas spring, or other elastic telescopic devices). The front end of the first elastic element 32 is provided with a buffer block 33, which can be made of silica gel to prevent damage to the cabinet door when in contact with the cabinet door. The front end of the buffer block 33 can be provided with an arc-shaped contact surface to adapt to the flatness error of different cabinet doors, which not only prevents scratching the paint surface of the cabinet door, but also increases the contact area by deformation to improve the stability of abutting the door.

[0050] When the first elastic element 32 is in the initial state, the front end thereof is longer than the front end of the clamping jaw 12. When the first elastic element 32 is fully retracted, the front end thereof is flush with the front end of the clamping jaw.

[0051] It should be noted that the first elastic element 32 and the second elastic element 23 described above are not limited to passive telescopic driving mode, but can also be actively linear telescopic driving mode including gas cylinder, linear motor, etc.

[0052] As Figure 4 shown, the clamping jaw 12 is in the open state, the key 25 is aligned with the door lock cylinder, and the door lock cylinder is unlocked.

[0053] As Figure 5 , Figure 6 shown, the clamping jaw 12 is in the closed state, and the door handle is between the two rollers 13. When the clamping assembly 1 is translated backward, the inner side of the door handle is in close contact with the outer roller 13. Since the opening and closing trajectory of the door lock is an arc, the contact surface between the inner side of the door handle and the roller 13 changes constantly, and the roller 13 will rotate with the inner side of the door handle to open the door lock.

[0054] Since the buffer block 33 is in contact with the cabinet door, the first elastic element 32 is compressed, and the reaction force generated by the compression will resist the cabinet door, reducing the friction between the internal structure of the door lock and the cabinet door and reducing the opening resistance. Until the door lock is completely opened, the first elastic element 32 is also completely released, and the clamping jaw can be easily opened.

[0055] When the door lock needs to be closed, the door lock will fall back to the initial closed position due to gravity, and the clamping jaw 12 is opened, and the clamping assembly 1 is moved towards the cabinet door so that the door handle is between the two rollers 13. The clamping jaw 12 is closed, and the clamping assembly 1 is translated backward, and at this time the buffer block 33 will resist the cabinet door due to the action of the first elastic element 32, so that the cabinet door will not be opened outward together with the opening and closing of the door lock, and the cabinet door will still be in the closed state. When the door lock is pulled to the lockable state, the clamping assembly 1 is moved towards the cabinet door again, and at this time the door lock will be subjected to the resistance between the door lock and the cabinet door when the door lock is closed, so that the outer side of the door handle is in close contact with the inner roller 13, and under the action of the inner roller 13, the door lock can be completely closed.

[0056] The above description of disclosed embodiments enables one of ordinary skill in the art to make or use the application. Various modifications to these embodiments will be readily apparent to those of ordinary skill in the art, and the generic principles defined herein can be applied to other embodiments without departing from the spirit or scope of the application. Accordingly, the application is not to be limited to these embodiments shown herein but is to be accorded the broadest scope consistent with the principles and novel features disclosed herein.

Claims

1. A door lock opening / closing actuator, characterized in that, It includes a clamping assembly (1) for clamping the door lock handle, an unlocking assembly (2) for opening and closing the door lock cylinder, and a door-stopping assembly (3) for abutting the cabinet door. A fixing frame (4) is provided above the clamping assembly (1). The unlocking assembly (2) and the door-stopping assembly (3) are mounted on the clamping assembly (1) through the fixing frame (4). The clamping assembly (1) includes a drive unit (11) and a gripper (12). The gripper (12) is mounted on the front end of the drive unit (11). Two rollers (13) are arranged opposite each other on the gripper (12). The drive unit (11) drives the gripper (12) to open and close. When the gripper (12) is closed, the two rollers (13) are arranged in a front-to-back arrangement. The unlocking assembly includes a motor (21) and a base (22). The motor (21) is mounted on a fixed frame (4), and the base (22) is fixedly sleeved on the output shaft at the front end of the motor (21). A key (25) is provided at the front end of the base (22). The door-stopping assembly (3) includes an elastomer bracket (31) and a first elastic element (32). The elastomer bracket (31) is mounted on the fixed frame (4). The first elastic element (32) is mounted on the front end face of the elastomer bracket (31). When the first elastic element (32) is in the initial state, its front end is longer than the front end of the gripper (12). When the first elastic element (32) is fully retracted, its front end is flush with the front end of the gripper (12).

2. The door lock opening and closing actuator according to claim 1, characterized in that, The front end of the base (22) extends axially with a connecting shaft. The key (25) is slidably connected to the base (22) through the connecting shaft. A second elastic element (23) is installed between the base (22) and the key (25). The second elastic element (23) is used to generate a force that causes the key (25) to move away from the motor (21) and the base (22).

3. The door lock opening and closing actuator according to claim 2, characterized in that, The tail end of the key (25) is provided with a mounting hole. The outline of the mounting hole matches the outline of the connecting shaft on the base (22). The connecting shaft is used to drive the key (25) to rotate and to make the key (25) slide back and forth along the axial direction of the base (22).

4. The door lock opening and closing actuator according to claim 3, characterized in that, The base (22) is fixedly covered with a housing (24), the key (25) and the second elastic member (23) are located inside the housing (24), and the housing (24) is used to limit the sliding range of the key (25).

5. The door lock opening and closing actuator according to claim 4, characterized in that, The second elastic element (23) is installed inside the housing (24) in a pre-compression manner.

6. The door lock opening and closing actuator according to claim 1, characterized in that, A buffer block (33) is installed at the front end of the first elastic element (32) to prevent damage to the cabinet door when the first elastic element (32) comes into contact with the cabinet door.

7. The door lock opening and closing actuator according to claim 1, characterized in that, When the gripper (12) is open, the width of the middle opening is greater than the width of the door lock handle. When the gripper (12) is closed, the door lock handle is located between the two rollers (13).

8. The door lock opening and closing actuator according to claim 1, characterized in that, The tail of the drive unit (11) is fixedly mounted with a connecting piece (5), which is used to connect to the end of the operating robotic arm.

9. A door lock opening and closing execution method, applied to the door lock opening and closing actuator as described in any one of claims 1-8, characterized in that, include: When the door lock needs to be opened, the gripper (12) is in the open state, the key (25) is aligned with the door lock hole, the door lock cylinder is unlocked, and then the gripper (12) moves to the door lock handle position and clamps. At this time, the door lock handle is in the middle of the two rollers (13). When the clamping component (1) is moved backward, the inner side of the door lock handle is close to the outer roller (13). Since the door lock opening and closing trajectory is an arc, the contact surface between the inner side of the door lock handle and the roller (13) changes continuously. The roller (13) will rotate together with the inner side of the handle to open the door lock. When the door lock needs to be closed, the door lock will fall back to the initial closed position due to gravity. At this time, the clamp (12) opens and the clamping component (1) moves towards the cabinet door so that the door lock handle is between the two rollers (13). The clamp (12) closes and the clamping component (1) moves backward. At this time, the buffer block (33) will hold the cabinet door in place due to the action of the first elastic element (32), so that the cabinet door will not open outward with the opening and closing of the door lock. The cabinet door is still in the closed state. When the door lock is pulled open to the lockable state, the clamping component (1) moves towards the cabinet door again. At this time, the door lock will be subject to the resistance between the door lock and the cabinet door when it is locked, so that the outer side of the door lock handle is pressed against the inner roller (13). Under the action of the inner roller (13), the door lock is completely closed.

10. The door lock opening and closing execution method according to claim 9, characterized in that, After the buffer block (33) comes into contact with the cabinet door, it compresses the first elastic element (32). The reaction force generated by the compression holds the cabinet door in place, reducing the friction between the internal structure of the door lock and the cabinet door, and reducing the unlocking resistance. When the door lock is fully opened, the first elastic element (32) is fully released and the clamping claw (12) can be opened.

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