Rolling door device and handling robot
By using roller assembly and lining counterweight strip structure under the limit of the guide rail of the roller shutter device, the wear and wear and chip pollution problems of the roller shutter device during high-frequency use in the transport robot are solved, and the durability of the roller shutter and the dustproof effect of the transport robot are achieved.
Patent Information
- Application Number
- CN202420417710.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-03-05
- Publication Date
- 2025-04-04
- Estimated Expiration
- 2034-03-05
AI Technical Summary
When existing roller shutter door devices are used at high frequency in transport robots, friction between the cord and the track and wear of the cord brushes, resulting in increased wear of the cord, reduced service life, and wear chip contamination.
A roller shutter door device is designed to prevent sliding friction between the roller shutter and the guide rail by using a roller assembly under the limit of the guide rail, and to maintain the straightening state of the roller shutter through the lining plate and the counterweight strip.
It effectively avoids the wear and wear of roller shutters, extends the service life of roller shutters, and improves the dustproof effect of the transport robot, and avoids materials from being contaminated with floating dust.
Smart Images
Figure CN222716803U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of robots, in particular to a rolling door device and a handling robot. Background Art
[0002] Rolling shutters are a type of door structure commonly used in modern production and life. Earlier rolling shutters were mainly used on doors and windows of buildings to provide safety and closure. At present, this type of rolling shutter is also commonly used on many industrial mobile robots (such as AGV, IGV, AMR). The main reason is that most factories now have safety and dust-proof requirements for materials transported in the factory in order to improve product quality. Therefore, a door body is usually installed on the cache structure of the handling robot to isolate it from the outside environment.
[0003] Traditional doors need to occupy a certain space to open or close, while rolling door devices only need to occupy a small space to open or close the door. Therefore, rolling door devices are gradually widely used in handling robots.
[0004] Although the existing rolling door device has certain applications in handling robot equipment, it often has some problems. For example, while the handling robot improves the handling efficiency, it will inevitably increase the frequency of opening and closing the rolling door device, even up to hundreds of times a day.
[0005] The rolling door device of the existing handling robot generally uses industrial fabric (PVC) as the curtain door, and a brush seal is set around the door body. When the rolling door is used frequently, it is easy to wear out, including the friction between the curtain and the track and the curtain brush. This situation will not only cause the curtain to wear more, reducing its service life, but also produce wear debris to pollute the surrounding environment. Utility Model Content
[0006] Aiming at the deficiencies of the prior art, the utility model discloses a rolling door device and a transport robot.
[0007] The technical solution adopted by the utility model is as follows:
[0008] A rolling door device, comprising:
[0009] The door frame assembly comprises a side frame, a bottom frame and a bracket; the top of the side frame is fixedly connected to the side of the bracket; the bottom of the side frame is fixedly connected to the bottom frame;
[0010] A driving assembly is arranged on the bracket; the driving assembly comprises an active roller with power input;
[0011] A rolling curtain, the top end of which is connected to the active roller, and the rolling curtain is wound by the rotation of the active roller;
[0012] The guide assembly comprises a guide track arranged on the inner side of the door frame assembly, and a guide mechanism arranged on the bottom of the rolling curtain, and the guide mechanism cooperates with the guide track to guide the rolling curtain to rise and fall along the height direction of the side frame.
[0013] In one embodiment of the utility model, the guiding mechanism includes a lining plate fixed to the bottom end of the rolling shutter, a counterweight bar and a roller assembly, the lining plate is clamped and fixed to the bottom end of the rolling shutter by the counterweight bar; the roller assembly is installed at the end of the lining plate and rollingly cooperates with the guide track.
[0014] In one embodiment of the utility model, the guide rail has a guide groove along its length direction; a side opening with a width smaller than the guide groove is formed on the opposite side of the guide rail, and the side opening extends from one end of the guide rail to the other end; the two ends of the lining plate and the roller blind extend horizontally into the guide groove.
[0015] In one embodiment of the utility model, the lining plate includes a first lining plate and a second lining plate arranged in a same line, waist-shaped holes are opened on the first lining plate and the second lining plate; steps are arranged at opposite ends of the first lining plate and the second lining plate.
[0016] In one embodiment of the present invention, the first lining plate and the second lining plate have the same structure, and the first lining plate and the second lining plate are point-symmetrical.
[0017] In one embodiment of the utility model, the roller assembly also includes a screw, a shaft end retaining ring, a roller, a bearing, a hole elastic retaining ring, a washer and a pin; the shaft end retaining rings are respectively installed at both ends of the pin and are fixed to the pin by the screws; the pin and the roller are rollingly fitted through the bearing, and the screw head and the shaft end retaining ring provide axial support for the roller through the bearing; the roller rolls in the guide groove; the hole elastic retaining ring and the washer are respectively installed at the orifice of the roller and the washer is sleeved on the pin.
[0018] The utility model also provides a transport robot, comprising:
[0019] Mobile chassis;
[0020] A cache body is arranged on the mobile chassis; one side of the cache body is open, and extends horizontally inward from the opening to form a cache cavity;
[0021] The rolling door device as described above is arranged at the opening of the cache body and cooperates with the cache body to close the cache cavity.
[0022] In one embodiment of the utility model, it also includes an air purifier arranged on the top of the cache body.
[0023] The above technical solution of the utility model has the following advantages compared with the prior art:
[0024] The rolling door device of the utility model can avoid sliding friction between the rolling curtain and the guide track under the limitation of the guide track, and avoid wear of the rolling curtain and generation of grinding chips.
[0025] The handling robot of the utility model has a good dust-proof effect and can prevent the running materials from being contaminated by floating dust. BRIEF DESCRIPTION OF THE DRAWINGS
[0026] In order to make the content of the utility model more clearly understood, the utility model is further described in detail below based on specific embodiments of the utility model in combination with the accompanying drawings.
[0027] Figure 1 It is a structural schematic diagram of the handling robot in the utility model.
[0028] Figure 2 It is a structural schematic diagram of the rolling door device in the utility model.
[0029] Figure 3 It is a schematic diagram of the rolling curtain assembly in the utility model.
[0030] Figure 4 It is a schematic diagram of the lining plate in the utility model.
[0031] Figure 5 It is a cross-sectional view of the roller assembly in the utility model.
[0032] Figure 6 It is an exploded view of the roller assembly in the utility model.
[0033] Description of the Figures in the Specification:
[0034] 100. Roller blinds;
[0035] 200, door frame assembly; 201, side frame; 202, bottom frame; 203, bracket;
[0036] 300, drive assembly;
[0037] 400, guide assembly; 401, guide track; 4011, guide groove; 4012, side opening; 402, lining plate; 4021, first lining plate; 4022, second lining plate; 4023, waist-shaped hole; 4024, step portion; 403, counterweight bar; 404, roller assembly; 4041, screw; 4042, shaft end retaining ring; 4043, roller; 4044, bearing; 4045, elastic retaining ring for hole; 4046, washer; 4047, pin shaft;
[0038] 500. Cache body; 600. Mobile chassis; 700. Air purifier. DETAILED DESCRIPTION
[0039] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.
[0040] It has been found in actual use that the industrial fabric (PVC) currently used as the curtain door, and the brush seal is set around the door body of the curtain door. When the rolling door is used frequently, it is easy to wear and tear, including the friction between the curtain and the track and the curtain brush. This situation will not only cause the curtain to wear more and reduce its service life, but also produce wear debris to pollute the surrounding environment.
[0041] In order to solve the above problems, the utility model provides a rolling door device and a handling robot.
[0042] like Figure 1 As shown, this embodiment provides a transport robot, including a mobile chassis 600, a cache body 500 and a rolling door device.
[0043] The mobile chassis 600 can adopt a chassis structure of the type such as IGV (Intelligent Guided Vehicle), AGV (Automated Guided Vehicles) or AMR (Autonomous Mobile Robot) to realize the movement of the transport robot between different locations.
[0044] The cache body 500 is arranged on the mobile chassis 600. One side of the cache body 500 is open, and a cache cavity is formed by horizontally extending inward from the opening. The cache cavity is configured to cache flower baskets. For this embodiment, a conveying device is arranged in the cache cavity to move the flower baskets in or out. Among them, the conveying device can transport the flower baskets by belt conveyor. The conveying device of the belt conveyor structure can also be equivalently replaced by other conveying devices, such as a roller / roller conveyor device. The specific structure of the conveying device is irrelevant to the technical problem to be solved by the application and will not be elaborated here. The rolling shutter device is arranged at the entrance and exit of the cache body 500, and the rolling shutter device can be used to
[0045] In a further embodiment, the handling robot further includes an air purifier 700 disposed on the top of the cache body 500. The air purifier 700 is disposed on the top of the cache body 500, away from the entrance and exit. The air purifier 700 can filter and purify the external air and then input it into the cache cavity of the cache body 500, so that the air pressure in the cache cavity is higher than the air pressure outside the cache body 500, thereby preventing external floating dust from entering the cache body 500, and then preventing the materials in the cache body 500 from being contaminated.
[0046] like Figure 2 As shown, this embodiment provides a rolling door device, including a door frame assembly 200 , a driving assembly 300 , a rolling shutter 100 , and a guiding assembly 400 .
[0047] The door frame assembly 200 includes a side frame 201, a bottom frame 202 and a bracket 203. The bracket 203 is horizontally arranged at the top of the cache body 500. In this embodiment, the bracket 203 includes a first bracket and a second bracket arranged in parallel, the first bracket and the second bracket are horizontally arranged at the top of the cache body 500, and the first bracket and the second bracket extend horizontally along the internal depth direction of the cache body 500 to form an installation base for installing the side frame 201 and the bottom frame 202. The first bracket and the second bracket can be made of aluminum profiles. The top of the side frame 201 is fixedly connected to the side of the bracket 203. The bottom of the side frame 201 is fixedly connected to the bottom frame 202, and a plurality of connectors are arranged on the inner side of the side frame 201 to connect to the inner wall of the cavity of the cache body 500. Among them, the connector is provided with a plurality of connecting holes so that the side frame 201 and the inner wall of the cache body 500 can be connected by bolts.
[0048] The driving assembly 300 is arranged on the bracket 203 of the door frame assembly 200, and the rolling curtain 100 can be driven to be wound and raised and lowered by the driving assembly 300. In this embodiment, the driving assembly 300 includes an active roller with power input, and the top of the rolling curtain is connected to the active roller. The rolling curtain can be wound by rotating the active roller, thereby realizing the lifting and lowering of the rolling curtain. Specifically, the power input of the active roller can be driven by setting a motor and a transmission sprocket to drive the active roller to rotate; an electric roller can also be used as the active roller. The rolling curtain and the active roller can be fixed with adhesive, such as double-sided tape. Of course, in order to adjust the winding angle of the rolling curtain and keep the rolling curtain in a taut state when winding around the active roller, a driven roller without power input can also be set on one side of the active roller, so that the top of the rolling curtain is connected to the active roller after winding around the driven roller. The material used for the rolling curtain in this embodiment is preferably polyvinyl chloride (PVC).
[0049] The guide assembly 400 includes a guide track 401 disposed inside the side frame 201 and a guide mechanism disposed at the bottom of the rolling curtain 100 . The guide mechanism cooperates with the guide track 401 to guide the rolling curtain 100 to rise and fall along the height direction of the side frame 201 .
[0050] Specifically, Figure 3 As shown, there are two guide rails 401, which are symmetrically arranged on the inner side of the side frame 201. The guide rail 401 has a guide groove 4011 along the length direction. A side opening 4012 having a width smaller than the guide groove 4011 is formed on the opposite side of the guide rail 401, and the side opening 4012 extends from one end of the guide rail 401 to the other end.
[0051] The guide mechanism includes a lining plate 402, a counterweight bar 403 and a roller assembly 404. The lining plate 402 is attached to the bottom of the rolling curtain 100 along the width direction of the rolling curtain 100. There are two counterweight bars 403, which clamp the lining plate 402 and the rolling curtain 100 from one side of the lining plate 402 and one side of the rolling curtain 100 respectively, and then fix them by screws or bolts or other threaded fasteners, so that the bottom of the rolling curtain 100 maintains a certain counterweight weight, so that the rolling curtain 100 is in a straight state. The two ends of the lining plate 402 and the rolling curtain 100 extend horizontally into the guide groove 4011 of the guide track 401. The roller assembly 404 is installed at the end of the lining plate 402 and rolls with the guide groove 4011 of the guide track 401. The guide groove 4011 is configured to limit the roller assembly 404 from two directions, thereby preventing the rolling blind 100 from shaking, avoiding friction between the rolling blind 100 and the guide track 401, and reducing wear of the rolling blind 100 and debris generated by wear.
[0052] In addition, since both sides of the rolling shutter 100 also extend into the guide groove 4011 of the guide track 401, the sealing performance of the rolling shutter 100 can be improved, and the external polluted air can be reduced from flowing into the interior of the buffer body 500. It should be noted that in this embodiment, the spacing between the side openings 4012 of the guide track 401 is as small as possible as long as there is no friction with the rolling shutter 100 and the lining plate 402, which can enhance the sealing performance of the rolling shutter door device.
[0053] In a further embodiment, Figure 4 As shown, the lining plate 402 includes a first lining plate 4021 and a second lining plate 4022 arranged in a colinear manner, and waist-shaped holes 4023 are opened on the first lining plate 4021 and the second lining plate 4022 to adjust the gap distance between the first lining plate 4021 and the second lining plate 4022 when fixed with the counterweight bar 403. Therefore, the position of the roller assembly 404 in the guide track 401 is adjusted according to the installation error of the guide track 401, the wear between the roller assembly 404 and the guide track 401 is reduced, and the roller 4043 is prevented from getting stuck. In addition, the opposite ends of the first lining plate 4021 and the second lining plate 4022 are provided with step portions 4024, so as to achieve complementary gaps. When adjusting the gap between the lining plates, the rolling curtain 100 can be prevented from wrinkling in the middle position. Preferably, the first lining plate 4021 and the second lining plate 4022 have the same structure and are point symmetrical.
[0054] In a further embodiment, in combination Figure 5 and Figure 6 The roller assembly 404 includes a screw 4041, a shaft end retaining ring 4042, a roller 4043, a bearing 4044, a hole elastic retaining ring 4045, a washer 4046 and a pin 4047. The shaft end retaining rings 4042 are installed at both ends of the pin 4047 and are fixed on the pin 4047 by screws 4041; the roller 4043 and the pin 4047 are rollingly matched through the bearing 4044, and the head of the screw 4041 and the shaft end retaining ring 4042 provide axial support for the roller 4043 through the bearing 4044; the hole elastic retaining ring 4045 and the washer 4046 are respectively installed at the hole of the roller 4043 and the washer 4046 is sleeved on the pin 4047, and the hole elastic retaining ring 4045 and the washer 4046 play the role of blocking the bearing 4044 to prevent the bearing 4044 from slipping out of the hole of the roller 4043 or loosening. The roller 4043 is preferably made of a wear-resistant, corrosion-resistant and low-abrasive material, such as polyoxymethylene (POM), to enhance its durability and reduce the generation of abrasive debris. The screw 4041 is preferably coated with a type of anti-falling glue on the thread surface to prevent the roller assembly 404 from loosening during operation.
[0055] As can be seen from the above, the rolling door device provided in this embodiment can avoid sliding friction between the rolling curtain 100 and the guide rail 401 by limiting the roller 4043 on the guide rail 401, thereby avoiding wear of the rolling curtain 100 and the generation of wear debris.
[0056] The rolling door device provided in this embodiment can adjust the position of the roller 4043 in the guide track 401 by adjusting the length of the lining plate 402;
[0057] The rolling door device provided in this embodiment not only has a good sealing effect to prevent dust from entering by extending the rolling curtain 100 to the inside of the guide track 401, but also avoids the wear problem caused by the use of a brush for sealing in the prior art.
[0058] Obviously, the above embodiments are merely examples for the purpose of clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the scope of protection of the invention of the utility model.
Claims
1. A rolling door device, characterized in that: include: A door frame assembly (200) comprises a side frame (201), a bottom frame (202) and a bracket (203); the top of the side frame (201) is fixedly connected to the side of the bracket (203); the bottom of the side frame (201) is fixedly connected to the bottom frame (202); A driving assembly (300) is arranged on the support (203); the driving assembly (300) comprises an active roller having a power input; A rolling curtain (100), the top end of which is connected to the active roller, and the rolling curtain (100) is wound by the rotation of the active roller; The guide assembly (400) comprises a guide track (401) arranged on the inner side of the side frame (201), and a guide mechanism arranged on the bottom of the rolling curtain (100); the guide mechanism cooperates with the guide track (401) to guide the rolling curtain (100) to rise and fall along the height direction of the side frame (201).
2. The rolling door device according to claim 1, characterized in that: The guiding mechanism comprises a lining plate (402) fixed to the bottom end of the rolling curtain (100), a counterweight bar (403) and a roller assembly (404); the lining plate (402) is clamped and fixed to the bottom end of the rolling curtain (100) by the counterweight bar (403); the roller assembly (404) is installed at the end of the lining plate (402) and rollingly cooperates with the guiding track (401).
3. The rolling door device according to claim 2, characterized in that: The guide track (401) is provided with a guide groove (4011) along its length direction; a side opening (4012) having a width smaller than that of the guide groove (4011) is formed on the opposite side of the guide track (401), and the side opening (4012) extends from one end of the guide track (401) to the other end; the two ends of the lining plate (402) and the rolling curtain (100) extend horizontally into the guide groove (4011).
4. The rolling door device according to claim 3, characterized in that: The lining plate (402) comprises a first lining plate (4021) and a second lining plate (4022) which are arranged in a colinear manner, and waist-shaped holes (4023) are opened on the first lining plate (4021) and the second lining plate (4022); and step portions (4024) are arranged at opposite ends of the first lining plate (4021) and the second lining plate (4022).
5. The rolling door device according to claim 4, characterized in that: The first lining plate (4021) and the second lining plate (4022) have the same structure, and the first lining plate (4021) and the second lining plate (4022) are point-symmetrical.
6. The rolling door device according to claim 3, characterized in that: The roller assembly (404) further comprises a screw (4041), a shaft end retaining ring (4042), a roller (4043), a bearing (4044), a hole elastic retaining ring (4045), a washer (4046) and a pin (4047); the shaft end retaining rings (4042) are respectively installed at both ends of the pin (4047) and are fixed to the pin (4047) by the screw (4041); the pin (4047) and the roller (4043) are connected by the The bearing (4044) is rollingly matched, and the head of the screw (4041) and the shaft end retaining ring (4042) provide axial support for the roller (4043) through the bearing (4044); the roller (4043) rolls in the guide groove (4011); the hole elastic retaining ring (4045) and the washer (4046) are respectively installed at the hole mouth of the roller (4043) and the washer (4046) is sleeved on the pin shaft (4047).
7. A transport robot, characterized in that: include: Mobile chassis (600); A cache body (500) is arranged on the mobile chassis (600); one side of the cache body (500) is open, and extends horizontally inward from the opening to form a cache cavity; The rolling door device according to any one of claims 1 to 6 is arranged at the opening of the cache body (500) and cooperates with the cache body (500) to close the cache cavity.
8. The handling robot according to claim 7, characterized in that: It also includes an air purifier (700) arranged on the top of the cache body (500).