Debugging door device and debugging system

Abstract

The utility model discloses a debugging door device and a debugging system, and relates to the technical field of robot debugging, the debugging door device comprises a fixed seat and a first door frame assembly, the first door frame assembly comprises a first sub-frame body, a second sub-frame body and a first door body, the lower end part of the first sub-frame body is connected to the fixed seat, and the lower end part of the second sub-frame body is connected to the first door body; one side of the first door body is rotationally connected to the first sub-frame body so that the first door body can be opened or closed relative to the first sub-frame body, and a first telescopic hole is formed in the first sub-frame body in the first direction; the second sub-frame body is slidably connected to the hole wall of the first telescopic hole in the hole depth direction of the first telescopic hole. According to the scheme, the robot can identify different door frame depth states of the same debugging door device.

Description

Technical Field

[0001] The utility model relates to the technical field of robot debugging, in particular to a debugging door device and a debugging system. Background Art

[0002] When the delivery robot arrives at the door of the target room, it needs to identify the image formed by the door and door frame to determine whether the door is open or closed. If it is judged to be closed, the robot will knock on the door. After the door is opened, the robot can also recognize that the door is open, retract the knocking arm, and open the cargo hold for the user to pick up the goods.

[0003] In the related art, the door used for debugging includes a door frame and a door body, and the door body is rotatably arranged on the door frame. However, the door frame depth of such doors is generally fixed. During the debugging stage of the robot, in order to ensure that the robot can normally identify doors with various door frame depths, it is often necessary to equip multiple doors with different door frame depths, and then the robot moves to each door at a specified position for identification, which is not conducive to improving the debugging efficiency of the robot. Utility Model Content

[0004] The main purpose of the utility model is to provide a debugging door device, aiming to enable a robot to identify different door frame depth states of the same debugging door device, thereby facilitating improving the debugging efficiency of the robot.

[0005] To achieve the above-mentioned purpose, the utility model proposes a debugging door device, which includes a fixed seat and a first door frame assembly, the first door frame assembly includes a first sub-frame, a second sub-frame and a first door body, the lower end of the first sub-frame is connected to the fixed seat, one side of the first door body is rotatably connected to the first sub-frame to realize the opening or closing of the first door body relative to the first sub-frame, the first sub-frame is provided with a first telescopic hole along a first direction, and the second sub-frame is slidably connected to the hole wall of the first telescopic hole along the hole depth direction of the first telescopic hole.

[0006] In one embodiment, the first sub-frame is slidably connected to the fixing seat along a first direction.

[0007] In one embodiment, a first roller is disposed on a side of the first sub-frame facing the ground; and / or a second roller is disposed on a side of the second sub-frame facing the ground.

[0008] In one embodiment, a first sliding portion is convexly provided on the hole wall of the first telescopic hole, a first sliding groove is concavely provided on the outer surface of the second sub-frame, the first sliding groove extends along a first direction, and the first sliding portion is penetrated through the first sliding groove so that the second sub-frame is slidably connected to the hole wall of the first telescopic hole along the hole depth direction of the first telescopic hole.

[0009] In one embodiment, the debugging door device further includes a limiting member, which is provided on the first sub-frame and is used to limit the sliding of the second sub-frame along the hole depth direction of the first telescopic hole.

[0010] In one embodiment, the first sub-frame is slidably connected to the fixing seat along the second direction.

[0011] In one embodiment, the first sub-frame, the second sub-frame and the second door frame assembly have opposite sides that are open, the second door frame assembly is spaced apart from the first door body along a first direction, and is slidably connected to the inner wall of the first sub-frame along a second direction.

[0012] In one embodiment, the second door frame assembly includes a third sub-frame, a fourth sub-frame and a second door body, the third sub-frame is slidably connected to the inner wall of the first sub-frame along the second direction, the third sub-frame and the fourth sub-frame are respectively open to the first sub-frame, one side of the second door body is rotatably connected to the third sub-frame to enable the second door body to be opened or closed relative to the third sub-frame, the third sub-frame is provided with a second telescopic hole along the first direction, and the fourth sub-frame is slidably connected to the hole wall of the second telescopic hole along the first direction.

[0013] In one embodiment, a second sliding portion is convexly provided on the hole wall of the second telescopic hole, a second sliding groove is concavely provided on the outer surface of the third sub-frame, the second sliding groove extends along the first direction, and the second sliding portion is penetrated through the second sliding groove, so that the third sub-frame is slidably connected to the hole wall of the second telescopic hole along the hole depth direction of the second telescopic hole.

[0014] In the technical solution of the utility model, the lower end of the first sub-frame is connected to the fixed seat, and the second sub-frame is pulled and pulled along the first direction, so that the sum of the dimensions of the second sub-frame and the first sub-frame along the first direction increases or decreases, thereby adjusting the door frame depth of the debugging door device, and realizing the robot to identify different door frame depth states of the same debugging door device, avoiding the robot from moving to each door at a specified position for identification, which is beneficial to improving the debugging efficiency of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0016] Figure 1 A front view structural schematic diagram of the debugging door device provided by the utility model in a first width state;

[0017] Figure 2 is a front view structural schematic diagram of the debugging door device in the second width state;

[0018] Figure 3 It is a schematic diagram of the top view of the structure of the debugging door device in the first width state and the first depth state;

[0019] Figure 4 It is a schematic diagram of the top view of the structure of the debugging door device in the second width state and the first depth state;

[0020] Figure 5 It is a schematic diagram of a top view of the structure of the debugging door device in a first width state and a second depth state;

[0021] Figure 6 It is a schematic diagram of the top view of the structure of the debugging door device in the second width state and the second depth state;

[0022] Figure 7 It is a side view structural schematic diagram of the debugging door device in a first depth state;

[0023] Figure 8 It is a side view structural schematic diagram of the debugging door device in the second depth state.

[0024] Description of Figure Numbers:

[0025] 10. Debugging door device; 1. Fixed seat; 2. First door frame assembly; 21. First sub-frame; 211. First roller; 23. Second sub-frame; 231. Second roller; 25. First door body; 3. Second door frame assembly; 31. Third sub-frame; 33. Fourth sub-frame; 35. Second door body.

[0026] The realization of the purpose, functional features and advantages of the utility model will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0028] It should be noted that if a directional indication is involved in the embodiments of the present invention, the directional indication is only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0029] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the utility model, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the utility model.

[0030] The present invention proposes a debugging door device 10, which aims to enable a robot to identify different door frame depth states of the same debugging door device 10, thereby facilitating improving the debugging efficiency of the robot.

[0031] Reference Figures 1 to 8 In one embodiment of the utility model, the debugging door device 10 includes a fixing seat 1 and a first door frame assembly 2, the first door frame assembly 2 includes a first sub-frame 21, a second sub-frame 23 and a first door body 25, the lower end of the first sub-frame 21 is connected to the fixing seat 1, one side of the first door body 25 is rotatably connected to the first sub-frame 21 to realize the opening or closing of the first door body 25 relative to the first sub-frame 21, the first sub-frame 21 is provided with a first telescopic hole along a first direction, and the second sub-frame 23 is slidably connected to the hole wall of the first telescopic hole along the hole depth direction of the first telescopic hole.

[0032] The fixing seat 1 is a seat body for supporting the first door frame assembly 2. To facilitate debugging with the robot, the fixing seat 1 can be movably arranged.

[0033] The debugging door device 10 may also include a rotating shaft. The inner wall of the first sub-frame 21 is recessed with a mounting hole. The two ends of the rotating shaft are connected to the hole wall of the mounting hole along a third direction. The side end of the first door body 25 is sleeved on the rotating shaft and rotates with the rotating shaft as a fulcrum, thereby realizing the opening or closing of the first door body 25 relative to the first sub-frame 21.

[0034] The first telescopic hole can be set as a through hole. When the second sub-frame 23 is stretched along the first direction, the two side ends of the second sub-frame 23 along the first direction are respectively engaged with the first telescopic hole, thereby ensuring the depth of the door frame while preventing the second sub-frame 23 from completely falling off from the first sub-frame 21, which is beneficial to improving the reliability of the device.

[0035] In the technical solution of the utility model, the lower end of the first sub-frame 21 is connected to the fixing seat 1, and the second sub-frame 23 is pulled along the first direction, so that the sum of the dimensions of the second sub-frame 23 and the first sub-frame 21 along the first direction is increased or decreased, thereby adjusting the door frame depth of the debugging door device 10, and realizing the robot to identify different door frame depth states of the same debugging door device 10, which is beneficial to improving the debugging efficiency of the robot.

[0036] Reference Figure 3 and Figure 5 In one embodiment of the present invention, the first sub-frame 21 is slidably connected to the fixing base 1 along a first direction.

[0037] The first sub-frame 21 can be movably abutted against the fixing base 1 , so that the first sub-frame 21 can be slidably disposed.

[0038] In this embodiment, on the basis of pulling out the second sub-frame 23 along the first direction, the first sub-frame 21 can also be pulled out along the first direction to speed up the adjustment rate of the door frame depth of the debugging door device 10, thereby facilitating further improving the debugging efficiency of the robot.

[0039] Reference Figure 8 In one embodiment of the utility model, a first roller 211 is provided on a side of the first sub-frame 21 facing the ground; and / or a second roller 231 is provided on a side of the second sub-frame 23 facing the ground.

[0040] In this embodiment, when the first sub-frame 21 is pulled out along the first direction, the portion of the first sub-frame 21 extending out of the fixing seat 1 is supported by rolling through the first roller 211; when the second sub-frame 23 is pulled out along the first direction, the portion of the second sub-frame 23 extending out of the fixing seat 1 is supported by rolling through the second roller 231. Therefore, in this solution, by providing rollers for auxiliary support, the dimensions of the first sub-frame 21 and the second sub-frame 23 along the first direction can be further expanded, which is beneficial to improving the reliability of the device as a whole.

[0041] Reference Figure 3 and Figure 5In one embodiment of the utility model, a first sliding portion is convexly provided on the hole wall of the first telescopic hole, and a first sliding groove is concavely provided on the outer surface of the second sub-frame 23, the first sliding groove extends along a first direction, and the first sliding portion is penetrated through the first sliding groove so that the second sub-frame 23 is slidably connected to the hole wall of the first telescopic hole along the hole depth direction of the first telescopic hole.

[0042] In this embodiment, when the second sub-frame 23 is pulled along the first direction, since the first sliding portion of the first sub-frame 21 is inserted into the first sliding groove of the second sub-frame 23, it can guide the sliding of the second sub-frame 23 and prevent the second sub-frame 23 from being displaced during the sliding process, thereby ensuring the debugging accuracy.

[0043] Reference Figure 3 and Figure 5 In one embodiment of the utility model, the debugging door device 10 also includes a limiting member, which is arranged on the first sub-frame 21 and is used to limit the sliding of the second sub-frame 23 along the hole depth direction of the first telescopic hole.

[0044] The limiting member may be a buckle, one end of which is connected to the first sub-frame 21 , and the other end of which is movably inserted into a buckle hole of the second sub-frame 23 , thereby limiting the sliding of the second sub-frame 23 .

[0045] In this embodiment, when the debugging door device 10 is in a non-working state, the sliding of the second sub-frame 23 is limited by the limiting member so that the second sub-frame 23 is in an initial position in the first telescopic hole, thereby ensuring the normal implementation of subsequent debugging work.

[0046] Reference Figure 1 In one embodiment of the present utility model, the first sub-frame 21 is slidably connected to the fixing base 1 along the second direction.

[0047] In this embodiment, when it is necessary to simulate the situation of one side sticking to the wall, the fixing base 1 is moved to one side of the wall, and the first subframe 21 is slid and translated along the second direction, so that the first subframe 21 and one side of the wall are also attached. Therefore, this solution is conducive to further simulating the detection of other states of the debugging door device 10, thereby meeting the operator's further debugging needs.

[0048] Reference Figures 1 to 4 In one embodiment of the utility model, the first sub-frame 21, the second sub-frame 23 and the second door frame assembly 3 are open on opposite sides thereof, the second door frame assembly 3 and the first door body 25 are spaced apart along the first direction, and are slidably connected to the inner wall of the first sub-frame 21 along the second direction.

[0049] In this embodiment, by pulling the third sub-frame 31 along the second direction, the sum of the dimensions of the first sub-frame 21 and the third sub-frame 31 along the second direction is increased or decreased, thereby adjusting the door frame width of the debugging door device 10, and enabling the robot to identify different door frame width states of the same debugging door device 10, which is beneficial to improving the debugging efficiency of the robot.

[0050] In another embodiment, the debugging door device 10 also includes a second door frame assembly 3, and the second door frame assembly 3 and the first sub-frame 21 are spaced apart along the first direction and are slidably connected to the fixed seat 1 along the second direction. Similarly, by pulling the second door frame assembly 3 along the second direction, the sum of the dimensions of the first sub-frame 21 and the second door frame assembly 3 along the second direction can be increased or decreased.

[0051] Reference Figures 3 to 6 In one embodiment of the utility model, the second door frame assembly 3 includes a third sub-frame 31, a fourth sub-frame 33 and a second door body 35, the third sub-frame 31 is slidably connected to the inner wall of the first sub-frame 21 along the second direction, the third sub-frame 31 and the fourth sub-frame 33 are respectively open to the first sub-frame 21, one side of the second door body 35 is rotatably connected to the third sub-frame 31 to realize the opening or closing of the second door body 35 relative to the third sub-frame 31, the third sub-frame 31 is provided with a second telescopic hole along the first direction, and the fourth sub-frame 33 is slidably connected to the hole wall of the second telescopic hole along the first direction.

[0052] Among them, the difference in size between the first sub-frame 21 and the third sub-frame 31 along the first direction is smaller than the error threshold that can be recognized by the robot, so that when the third sub-frame 31 is pulled along the second direction, the third sub-frame 31 and the first sub-frame 21 are generally on the same straight line.

[0053] In this embodiment, the second door frame assembly 3 is pulled out as a whole along the second direction to change the overall width of the debugging door device 10. In order to enable the debugging door device 10 to have different depths at different widths, the second sub-frame 23 and the fourth sub-frame 33 are pulled out along the first direction respectively to change the overall door frame depth of the debugging door device 10. Therefore, this solution can realize the adjustment of the debugging door device 10 at different widths and different depths at the same time, which is conducive to meeting the further use requirements of the operator.

[0054] Reference Figures 1 to 4In one embodiment of the utility model, a second sliding portion is convexly provided on the hole wall of the second telescopic hole, and a second slide groove is concavely provided on the outer surface of the fourth sub-frame 33, the second slide groove extends along the first direction, and the second sliding portion is penetrated in the second slide groove, so that the fourth sub-frame 33 is slidably connected to the hole wall of the second telescopic hole along the hole depth direction of the second telescopic hole.

[0055] In this embodiment, when the fourth sub-frame 33 is pulled along the first direction, since the second sliding portion of the third sub-frame 31 is inserted into the second sliding groove of the fourth sub-frame 33, it can guide the sliding of the fourth sub-frame 33 and prevent the fourth sub-frame 33 from being displaced during the sliding process, thereby ensuring the debugging accuracy.

[0056] The utility model also provides a debugging system, which includes a robot and the debugging door device 10 as described above, and the debugging door device 10 is used to debug the robot. The specific structure of the debugging door device 10 refers to the above embodiment. Since the debugging system adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0057] Among them, in one embodiment of identifying whether the door is open, one side of the first sub-frame 21 and the second sub-frame 23 is open. When the door body is in a closed state, the door body covers and connects to the opening formed by the first sub-frame 21 and the second sub-frame 23; when the door body is in an open state, at least part of the opening of the first sub-frame 21 and the second sub-frame 23 is not covered by the door body.

[0058] In summary, the debugging door device 10 of the embodiment of the utility model mainly has the following four structural states: when the test door device is in the initial state, the debugging door device 10 is in Figure 3 A first width state and a first depth state are shown.

[0059] When the door device 10 is in the Figure 3 When the state is in the state of Figure 4 The second width state and the first depth state are shown.

[0060] When the door device 10 is in the Figure 3 When the state is in the state, by pulling the second sub-frame 23 along the first direction, the debugging door device 10 is in Figure 5 A first width state and a second depth state are shown.

[0061] When the door device 10 is in the Figure 4When the debugging door device 10 is in the state of Figure 6 A second width state and a second depth state are shown.

[0062] When the door device 10 is in the Figure 5 When the debugging door device 10 is in the state of Figure 6 A second width state and a second depth state are shown.

[0063] Therefore, the debugging door device 10 of the embodiment of the utility model can enable the robot to identify the different widths and depths of the same debugging door device 10, avoiding the robot moving to each door at a designated position for identification, thereby helping to improve the debugging efficiency of the robot.

[0064] The above description is only an exemplary embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the technical concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A debugging door device, used for debugging a robot, characterized in that: The debugging door device comprises: Mounting bracket; and The first door frame assembly comprises a first sub-frame, a second sub-frame and a first door body, the lower end of the first sub-frame is connected to the fixing seat, one side of the first door body is rotatably connected to the first sub-frame to realize opening or closing of the first door body relative to the first sub-frame, the first sub-frame is provided with a first telescopic hole along a first direction, and the second sub-frame is slidably connected to the hole wall of the first telescopic hole along the hole depth direction of the first telescopic hole.

2. The debugging door device according to claim 1, characterized in that: The first sub-frame is slidably connected to the fixing seat along a first direction.

3. The debugging door device according to claim 2, characterized in that: A first roller is disposed on a side of the first sub-frame facing the ground; and / or a second roller is disposed on a side of the second sub-frame facing the ground.

4. The debugging door device according to any one of claims 1 to 3, characterized in that: A first sliding portion is convexly provided on the hole wall of the first telescopic hole, and a first sliding groove is concavely provided on the outer surface of the second sub-frame. The first sliding groove extends along a first direction, and the first sliding portion is penetrated through the first sliding groove so that the second sub-frame is slidably connected to the hole wall of the first telescopic hole along the hole depth direction of the first telescopic hole.

5. The debugging door device according to any one of claims 1 to 3, characterized in that: The debugging door device further includes a limiting member, which is disposed on the first sub-frame and is used to limit the sliding of the second sub-frame along the hole depth direction of the first telescopic hole.

6. The debugging door device according to any one of claims 1 to 3, characterized in that: The first sub-frame is slidably connected to the fixing seat along a second direction.

7. The debugging door device according to any one of claims 1 to 3, characterized in that: The debugging door device also includes a second door frame assembly, and the first sub-frame, the second sub-frame and the second door frame assembly have opposite sides that are open respectively. The second door frame assembly is spaced apart from the first door body along a first direction and is slidably connected to the inner wall of the first sub-frame along a second direction.

8. The debugging door device according to claim 7, characterized in that: The second door frame assembly includes a third sub-frame, a fourth sub-frame and a second door body, the third sub-frame is slidably connected to the inner wall of the first sub-frame along the second direction, the third sub-frame and the fourth sub-frame are open to the opposite sides of the first sub-frame respectively, one side of the second door body is rotatably connected to the third sub-frame to realize the opening or closing of the second door body relative to the third sub-frame, the third sub-frame is provided with a second telescopic hole along the first direction, and the fourth sub-frame is slidably connected to the hole wall of the second telescopic hole along the first direction.

9. The debugging door device according to claim 8, characterized in that: A second sliding portion is convexly provided on the hole wall of the second telescopic hole, a second sliding groove is concavely provided on the outer surface of the fourth sub-frame, the second sliding groove extends along the first direction, and the second sliding portion is penetrated through the second sliding groove so that the fourth sub-frame is slidably connected to the hole wall of the second telescopic hole along the hole depth direction of the second telescopic hole.

10. A debugging system, characterized in that: include: robot; and The debugging door device according to any one of claims 1 to 9, wherein the debugging door device is used to debug a robot.

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