Self-locking storage device and service robot

Abstract

The utility model discloses a self-locking type storage device and a service robot. The self-locking type storage device comprises a storage bin body. The permanent magnet synchronous motor is electrically connected with a current sensor; the transmission mechanism comprises a transmission part and a moving part, the transmission part is in transmission connection with an output shaft of the permanent magnet synchronous motor, the transmission part drives the moving part to do linear reciprocating motion in the first direction, and the storage bin body moves along with the moving part; the gear box is arranged beside the permanent magnet synchronous motor, and an output shaft of the permanent magnet synchronous motor and the gear box are coaxially assembled. The drawer can be stably positioned through the permanent magnet synchronous motor when the drawer is closed, and fingers or other articles are prevented from being clamped. Compared with a traditional mechanical structure, the electric anti-pinch mode is more sensitive and reliable and is not prone to being affected by abrasion and pollution.

Description

Technical Field

[0001] The utility model relates to the technical field related to robots, and in particular to a self-locking storage device and a service robot. Background Art

[0002] In modern service robots such as meal delivery, electric drawers have been widely used for their convenience and speed. However, traditional electric drawers have some limitations in design and function, especially in self-locking and anti-pinch. The self-locking function is essential to ensure that the drawer can remain in its position stably when closed, while the anti-pinch function can effectively prevent users from pinching their fingers or other objects when closing the drawer.

[0003] In order to achieve the self-locking function of electric drawers, mechanical locking devices such as ratchet and pawl mechanisms are currently mainly used in the market. Although these devices can achieve self-locking to a certain extent, under high loads or impacts, the transmission system may be damaged or fail, resulting in failure of the self-locking function. In addition, these mechanical locking devices are usually complex in structure, which increases manufacturing costs and maintenance difficulties.

[0004] In terms of anti-pinch function, traditional electric drawers usually use simple mechanical structures to detect the contact between the drawer and obstacles. However, this mechanical structure is often not sensitive enough to respond and stop the movement of the drawer in time. In addition, the mechanical structure is easily affected by wear and contamination, which reduces the reliability and stability of the anti-pinch function. Utility Model Content

[0005] In order to overcome at least one defect of the prior art, the utility model provides a self-locking storage device and a service robot, which can solve the problem of preventing fingers from being pinched and realize the self-locking function of the storage bin body.

[0006] The technical solution adopted by the utility model to solve the problem is:

[0007] A self-locking storage device comprises: a storage bin body; a permanent magnet synchronous motor, the permanent magnet synchronous motor being electrically connected to a current sensor; a transmission mechanism, the transmission mechanism comprising a transmission member and a moving member, the transmission member being transmission-connected to an output shaft of the permanent magnet synchronous motor, the transmission member driving the moving member to perform linear reciprocating motion in a first direction, and the storage bin body following the movement of the moving member; a gear box, the gear box being arranged beside the permanent magnet synchronous motor, and the output shaft of the permanent magnet synchronous motor being coaxially assembled with the gear box.

[0008] By adopting the above scheme, the stable positioning of the drawer when closed can be achieved through the cooperation of the permanent magnet synchronous motor and the transmission mechanism. Compared with the traditional mechanical locking device, this electric self-locking method is more reliable and less susceptible to high loads or impacts. In addition, through the cooperation of the current sensor and the transmission mechanism, the contact between the drawer and the obstacle can be detected in real time. When the drawer encounters an obstacle, the current sensor will respond quickly and stop the motor to avoid pinching fingers or other objects. This electric anti-pinch method is more sensitive and reliable than the traditional mechanical structure, and is not susceptible to wear and contamination.

[0009] Furthermore, it also includes a fixed plate, a sliding groove is arranged on the fixed plate along the first direction, the permanent magnet synchronous motor is assembled to the fixed plate, and the transmission member is located in the sliding groove, and the moving member performs linear reciprocating motion along the sliding groove.

[0010] By adopting the above scheme, the fixed plate provides a stable installation base, so that the permanent magnet synchronous motor and other related components can be firmly installed on it, and the transmission part is located in the slide groove, and is driven by the permanent magnet synchronous motor to make linear reciprocating motion in the slide groove. This design ensures that the movement trajectory of the transmission part is stable and accurate, thereby driving the moving part and the storage compartment body to perform precise linear motion. Due to the precise movement of the transmission part and the moving part in the slide groove, the self-locking function is further enhanced. When the drawer is closed, the transmission part and the moving part can be accurately positioned at the preset self-locking position to ensure that the drawer remains stably in the closed state; when the drawer encounters an obstacle during the closing process, the current sensor can quickly detect the load change of the motor, and stop the moving part at a certain position in the slide groove through the transmission mechanism, thereby avoiding pinching fingers or other objects.

[0011] Furthermore, the transmission mechanism also includes a support frame, which is fixed to the fixing plate and is used to limit the transmission member in the sliding groove.

[0012] By adopting the above solution, the support frame is fixedly connected to the fixed plate, which provides additional support for the transmission member and plays a limiting role, thereby ensuring that the transmission member always moves in the slide groove and prevents it from deviating from the predetermined trajectory.

[0013] Furthermore, the transmission member is a conveyor belt, the movable member is a belt slider, the support frame includes two support columns and a first pulley rotatably connected between the support columns, the output shaft of the permanent magnet synchronous motor is connected to a second pulley, the conveyor belt is wound between the first pulley and the second pulley, and the belt slider is displaced as the conveyor belt rotates.

[0014] By adopting the above scheme, the conveyor belt is used as a transmission part, responsible for converting the rotational motion of the permanent magnet synchronous motor into linear motion. The belt slider is used as a moving part, which is in direct contact with the conveyor belt. The movement of the conveyor belt drives it to make linear reciprocating motion in the slide groove, ensuring the stable rotation of the conveyor belt and effectively transmitting the torque of the motor to the belt slider.

[0015] Furthermore, the belt slider includes a slider body and a slider cover body which are detachably connected to each other, a first pressure groove is provided on a side of the slider body facing the slider cover body, a second pressure groove is provided on a side of the slider cover body facing the slider body, and the conveyor belt is clamped between the first pressure groove and the second pressure groove.

[0016] By adopting the above scheme, the clamping effect of the first pressure groove and the second pressure groove can ensure the stable position of the conveyor belt between the slider cover and the slider body, prevent the conveyor belt from shifting or jumping during the sliding process, and by clamping the conveyor belt, the direct contact area between the conveyor belt and the belt slider can be reduced, thereby reducing the wear rate and extending the service life of the conveyor belt.

[0017] Furthermore, the transmission member is a screw, the movable member is a screw slider, the support frame has a rotating groove for one end of the screw to rotate, the output shaft of the permanent magnet synchronous motor is drivingly connected to the other end of the screw for driving the screw to rotate, and the screw slider converts the rotational force of the screw into a force along a linear displacement along the axial direction of the screw.

[0018] By adopting the above solution, due to the precise matching of the lead screw and the lead screw slider, when the drawer is closed, the lead screw slider can accurately stay in the predetermined position, realizing the self-locking function of the drawer. During the drawer closing process, if the drawer encounters an obstacle, the load of the permanent magnet synchronous motor will change. By monitoring this change through the current sensor, the system can respond quickly and stop the rotation of the lead screw, thereby preventing fingers or other objects from being pinched.

[0019] Furthermore, a first assembly platform is provided on the outer side of the bottom wall of the storage bin body, and the first assembly platform is fixedly connected to the moving part.

[0020] By adopting the above solution, the first assembly platform provides a stable installation base for the moving part, such as the belt slider. By fixedly connecting the moving part with the first assembly platform, the stability and reliability of the moving part during the transmission process can be ensured.

[0021] Furthermore, guide rails along a first direction are arranged outside the side panels on both sides opposite to each other of the storage bin body, and the guide rails are fixedly connected to the storage bin body.

[0022] By adopting the above solution, the design of the guide rail can ensure that the drawer moves linearly along a predetermined track during the opening and closing process, thereby avoiding possible shaking or deviation of the drawer during the sliding process.

[0023] Furthermore, the bottom wall of the storage bin body is provided with reinforcing ribs, and the reinforcing member is a transverse structure, a longitudinal structure or a transverse and longitudinal staggered structure.

[0024] By adopting the above solution, the overall structural strength and rigidity of the drawer are enhanced, and the external force can be effectively resisted to prevent the drawer from being deformed or damaged during use.

[0025] A service robot comprises a robot body, wherein the robot body has a receiving cavity with one side open, a self-locking storage device is arranged in the receiving cavity, and the direction in which the receiving cavity opens is consistent with a first direction.

[0026] By adopting the above solution, the storage bin body in the accommodating cavity of the service robot has self-locking and anti-pinch functions, ensuring the safety and reliability of the items, preventing the items from being damaged or lost during the movement or operation of the robot, and avoiding the risk of pinching hands when the storage bin body is closed.

[0027] In summary, the self-locking storage device and service robot provided by the utility model have the following technical effects:

[0028] 1. The electric self-locking method realized by the combination of permanent magnet synchronous motor and transmission mechanism is more reliable. This electric self-locking method is not easily affected by high load or impact, thus ensuring that the drawer can be stably maintained in its position when closed; the electric self-locking method also reduces the risk of self-locking failure caused by mechanical wear or looseness, and improves the service life and reliability of the storage device;

[0029] 2. By electrically connecting the permanent magnet synchronous motor with the current sensor and combining it with the transmission mechanism, the contact between the drawer and the obstacle can be detected in real time. When the drawer encounters an obstacle, the current sensor can respond quickly and stop the motor from working, thus avoiding pinching fingers or other objects;

[0030] 3. The design of the self-locking storage device and service robot makes the operation safer and more convenient for users. Users do not need to worry about the drawer opening accidentally or pinching their hands, which improves the comfort and safety of use; for the service robot, this design also enhances its autonomy and intelligence, enabling it to better adapt to various environments and task requirements;

[0031] 4. The structure of electric self-locking and anti-pinch is relatively simple, which reduces the manufacturing cost and maintenance difficulty. At the same time, due to the reduction of mechanical wear and failure risks, it also reduces the cost of repair and replacement of parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a schematic diagram of the storage bin body in a closed state according to an embodiment of the utility model;

[0033] Figure 2 This is a schematic diagram of the storage bin body in an open state according to an embodiment of the utility model;

[0034] Figure 3 This is a schematic diagram of the structure of the fixing plate of an embodiment of the utility model;

[0035] Figure 4 This is a bottom view of the structure of the storage bin body in a closed state according to an embodiment of the utility model;

[0036] Figure 5 This is a schematic diagram of the structure of the storage bin body in an open state when viewed from above according to an embodiment of the utility model;

[0037] Figure 6 This is a schematic diagram of the transmission mechanism structure of an embodiment of the utility model;

[0038] Figure 7 It is a schematic diagram of a partial explosion structure of a transmission mechanism of an embodiment of the utility model;

[0039] Figure 8 The diagram is a partial exploded structural diagram of a permanent magnet synchronous motor of an embodiment of the utility model. The meanings of the reference numerals are as follows: 1. Storage compartment body; 11. Bottom plate; 111. First assembly platform; 112. Reinforcement ribs; 12. Door panel; 13. Side panel; 131. Guide rail; 2. Permanent magnet synchronous motor; 21. Current sensor; 3. Transmission mechanism; 31. Transmission member; 311. Conveyor belt; 32. Moving member; 321. Belt slider; 33. Support frame; 331. Support column; 332. First pulley; 333. Second pulley; 4. Gear box; 5. Fixed plate; 51. Sliding groove; 6. Slider body; 61. First pressing groove; 7. Slider cover; 71. Second pressing groove. DETAILED DESCRIPTION

[0040] For better understanding and implementation, the technical solutions in the embodiments of the present invention will be clearly and completely described and discussed below in conjunction with the accompanying drawings of the present invention. Obviously, what is described here is only a part of the examples of the present invention, not all the examples. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0041] In order to facilitate the understanding of the embodiments of the present utility model, the following will be further explained by taking specific embodiments as examples in conjunction with the drawings, and each embodiment does not constitute a limitation on the embodiments of the present utility model.

[0042] In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc. indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0043] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0044] Embodiment 1 of the present utility model is referred to Figure 1-Figure 8As shown, a self-locking storage device is disclosed, including a storage bin body 1, a permanent magnet synchronous motor 2, a transmission mechanism 3 and a gear box 4. The storage bin body 1 is spliced ​​by five plates, including a bottom plate 11, a door plate 12 and three side plates 13 respectively. The transmission mechanism 3 includes a transmission member 31 and a moving member 32. The transmission member 31 is connected to the output shaft of the permanent magnet synchronous motor 2. The transmission member 31 drives the moving member 32 to perform linear reciprocating motion in a first direction. The storage bin body 1 moves with the moving member 32, so that the permanent magnet synchronous motor 2 can drive the movement of the storage bin body 1. Through precise programming and control, the storage bin body 1 can be moved to a specified position. When the drawer reaches the closed position, the controller of the permanent magnet synchronous motor 2 will receive a signal, and then stop the motor and keep it at the current position. In order to enhance the self-locking effect, it is possible to consider using a permanent magnet synchronous motor 2 with a holding torque, so that even in the off-power state, the motor can provide a certain resistance to prevent the drawer from accidentally opening; the gear box 4 is arranged next to the permanent magnet synchronous motor 2, and the output shaft of the permanent magnet synchronous motor 2 is coaxially assembled with the gear box 4, which can be used to increase the output torque of the permanent magnet synchronous motor 2, so that the storage bin body 1 can overcome the resistance when closing and maintain a stable position. The design of the gear box 4 should ensure that the transmission system will not be damaged or fail under high load or impact, thereby maintaining the effectiveness of the self-locking function; the permanent magnet synchronous motor 2 is electrically connected with a current sensor 21. Optionally, the current sensor 21 can be set in the permanent magnet synchronous motor 2, or can be set on a controller for controlling the permanent magnet synchronous motor 2. It only needs to be electrically connected to the permanent magnet synchronous motor 2, and can be used to monitor the current of the motor in real time. When the storage bin body 1 encounters obstacles such as fingers during movement, the movement of the storage bin body 1 is hindered, resulting in an increase in the current of the permanent magnet synchronous motor 2. When the current exceeds a threshold, the rotation of the permanent magnet synchronous motor 2 is stopped immediately, and the motor may be reversed to slightly open the storage bin body 1 to release the clamped object.

[0045] This embodiment 1 also relates to a service robot, including a robot body (not shown in the figure), the robot body having a accommodating cavity with one side open, a self-locking storage device is arranged in the accommodating cavity, and the direction in which the accommodating cavity is opened is consistent with the first direction, so that the storage bin body 1 in the accommodating cavity of the service robot has self-locking and anti-pinch functions, ensuring the safety and reliability of the items, preventing the items from being damaged or lost during the movement or operation of the robot, and avoiding the risk of pinching hands when the storage bin body 1 is closed.

[0046] In this embodiment 1, refer to Figure 3As shown, a fixed plate 5 is arranged in the accommodating cavity, a sliding groove 51 is arranged on the fixed plate 5 along a first direction, the permanent magnet synchronous motor 2 is assembled on the fixed plate 5, and the transmission member 31 is located in the sliding groove 51, and the moving member 32 performs linear reciprocating motion along the sliding groove 51. Figure 4 , Figure 6 As shown, the transmission mechanism 3 also includes a support frame 33, and the support frame 33 is fixed to the fixed plate 5, and is used to limit the transmission member 31 in the sliding groove 51. Specifically, the transmission member 31 is a conveyor belt 311, and the movable member 32 is a belt slider 321. The support frame 33 includes two support columns 331 and a first pulley 332 rotatably connected between the support columns 331. The output shaft of the permanent magnet synchronous motor 2 is connected to a second pulley 333. The conveyor belt 311 is wound between the first pulley 332 and the second pulley 333, and the belt slider 321 moves as the conveyor belt 311 rotates. Figure 7 As shown, the belt slider 321 includes a slider body 6 and a slider cover 7 which are detachably connected to each other, a first pressing groove 61 is provided on the side of the slider body 6 facing the slider cover 7, and a second pressing groove 71 is provided on the side of the slider cover 7 facing the slider body 6, the conveyor belt 311 is clamped between the first pressing groove 61 and the second pressing groove 71, and a locking screw is provided between the slider cover 7 and the slider body 6 for locking the two, thereby improving the relative fixing effect of the conveyor belt 311, the clamping effect of the first pressing groove 61 and the second pressing groove 71 can ensure the stable position of the conveyor belt 311 between the slider cover 7 and the slider body 6, and prevent the conveyor belt 311 from deflecting or jumping during the sliding process, and by clamping the conveyor belt 311, the direct contact area between the conveyor belt 311 and the belt slider 321 can be reduced, thereby reducing the wear rate and extending the service life of the conveyor belt 311. When the permanent magnet synchronous motor 2 rotates and drives the belt slider 321 to move toward the opening direction of the accommodating cavity, the storage bin body 1 opens, otherwise it closes.

[0047] In other embodiments, the transmission member 31 is optionally a screw, the moving member 32 is a screw slider, the support frame 33 has a rotation groove for one end of the screw to rotate, the output shaft of the permanent magnet synchronous motor 2 is drivingly connected to the other end of the screw to drive the screw to rotate, and the screw slider converts the rotational force of the screw into a force along a linear displacement along the axial direction of the screw. When the permanent magnet synchronous motor 2 rotates to drive the screw slider to move toward the opening direction of the accommodating cavity, the storage bin body 1 is opened, otherwise it is closed.

[0048] It should be noted that the transmission mechanism 3 may also be a combination of a gear and a rack. Of course, other transmission structures may also be used, which is not specifically limited in this embodiment.

[0049] In order to improve the assembly stability between the moving member 32 and the storage bin body 1, in this embodiment 1, refer to Figure 7 As shown, a first assembly platform 111 is provided on the outer side of the bottom wall of the storage bin body 1, and the first assembly platform 111 is fixedly connected to the moving part 32. Specifically, corresponding screw holes are provided between the slider body 6, the slider cover body 7 and the first assembly platform 111, and the three are assembled and fixed by screws that penetrate the slider body 6, the slider cover body 7 and the first assembly platform 111 at one time, thereby improving the assembly stability among the three. Thereby, the first assembly platform 111 provides a stable installation foundation for the moving part 32, such as the belt slider 321. By fixedly connecting the moving part 32 to the first assembly platform 111, the stability and reliability of the moving part 32 during the transmission process can be ensured.

[0050] In some embodiments, see Figure 1-2 As shown, in order to improve the sliding stability between the storage bin body 1 and the accommodating cavity when the storage bin body 1 is opened and closed, guide rails 131 along the first direction are arranged outside the two opposite side panels 13 of the storage bin body 1, and the guide rails 131 are fixedly connected to the storage bin body 1, including but not limited to welding fixation or screw fixation. A guide groove is arranged in the accommodating cavity corresponding to the guide rail 131 to cooperate with the guide rail 131 to achieve a guiding function, which can ensure that the drawer moves linearly along a predetermined track during the opening and closing process, and avoid the possible shaking or deviation of the drawer during the sliding process.

[0051] Optional, see Figure 5 , Figure 7 As shown, in some embodiments, in order to improve the load-bearing capacity of the storage bin body 1, reinforcing ribs 112 are provided on the bottom wall of the storage bin body 1, and the reinforcing member is a transverse structure, a longitudinal structure, or a transverse and longitudinal staggered structure. Thus, the overall structural strength and rigidity of the drawer are enhanced, and it can effectively resist external forces and prevent the drawer from being deformed or damaged during use.

[0052] In summary, the self-locking storage device and service robot provided by the utility model have the following technical effects:

[0053] 1. The electric self-locking method realized by the cooperation of the permanent magnet synchronous motor 2 and the transmission mechanism 3 is more reliable. This electric self-locking method is not easily affected by high loads or impacts, thereby ensuring that the drawer can be stably maintained in its position when closed; the electric self-locking method also reduces the risk of self-locking failure due to mechanical wear or looseness, and improves the service life and reliability of the storage device;

[0054] 2. By electrically connecting the permanent magnet synchronous motor 2 and the current sensor 21, combined with the transmission mechanism 3, the contact between the drawer and the obstacle can be detected in real time. When the drawer encounters an obstacle, the current sensor 21 can respond quickly and stop the motor from working, thereby avoiding pinching fingers or other objects;

[0055] 3. The design of the self-locking storage device and service robot makes the operation safer and more convenient for users. Users do not need to worry about the drawer opening accidentally or pinching their hands, which improves the comfort and safety of use; for the service robot, this design also enhances its autonomy and intelligence, enabling it to better adapt to various environments and task requirements;

[0056] 4. The structure of electric self-locking and anti-pinch is relatively simple, which reduces the manufacturing cost and maintenance difficulty. At the same time, due to the reduction of mechanical wear and failure risks, it also reduces the cost of repair and replacement of parts.

[0057] The technical means disclosed in the solution of the utility model are not limited to the technical means disclosed in the above-mentioned implementation mode, but also include technical solutions composed of any combination of the above technical features. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the utility model, and these improvements and modifications are also regarded as the protection scope of the utility model.

Claims

1. A self-locking storage device, characterized in that: include: Storage compartment body (1); A permanent magnet synchronous motor (2), wherein the permanent magnet synchronous motor (2) is electrically connected to a current sensor (21); A transmission mechanism (3), the transmission mechanism (3) comprising a transmission member (31) and a moving member (32), the transmission member (31) being in transmission connection with an output shaft of the permanent magnet synchronous motor (2), the transmission member (31) driving the moving member (32) to perform linear reciprocating motion in a first direction, and the storage bin body (1) following the movement of the moving member (32); A gear box (4), wherein the gear box (4) is arranged beside the permanent magnet synchronous motor (2), and the output shaft of the permanent magnet synchronous motor (2) is coaxially assembled with the gear box (4).

2. A self-locking storage device according to claim 1, characterized in that: It also comprises a fixed plate (5), a sliding groove (51) is arranged on the fixed plate (5) along a first direction, the permanent magnet synchronous motor (2) is assembled on the fixed plate (5), the transmission member (31) is located in the sliding groove (51), and the moving member (32) performs linear reciprocating motion along the sliding groove (51).

3. A self-locking storage device according to claim 2, characterized in that: The transmission mechanism (3) further comprises a support frame (33), wherein the support frame (33) is fixed to the fixing plate (5) and is used to limit the transmission member (31) to be located within the sliding groove (51).

4. A self-locking storage device according to claim 3, characterized in that: The transmission member (31) is a conveyor belt (311), the moving member (32) is a belt slider (321), the support frame (33) comprises two support columns (331) and a first pulley (332) rotatably connected between the support columns (331), the output shaft of the permanent magnet synchronous motor (2) is connected to a second pulley (333), the conveyor belt (311) is wound between the first pulley (332) and the second pulley (333), and the belt slider (321) rotates and moves following the conveyor belt (311).

5. A self-locking storage device according to claim 4, characterized in that: The belt slider (321) comprises a slider body (6) and a slider cover (7) which are detachably connected to each other, a first pressing groove (61) is provided on the side of the slider body (6) facing the slider cover (7), and a second pressing groove (71) is provided on the side of the slider cover (7) facing the slider body (6), and the conveyor belt (311) is clamped between the first pressing groove (61) and the second pressing groove (71).

6. A self-locking storage device according to claim 4, characterized in that: The transmission member (31) is a screw, the moving member (32) is a screw slider, the support frame (33) has a rotation groove for one end of the screw to rotate, the output shaft of the permanent magnet synchronous motor (2) is drivingly connected to the other end of the screw for driving the screw to rotate, and the screw slider converts the rotational force of the screw into a force along a linear displacement along the axial direction of the screw.

7. A self-locking storage device according to any one of claims 1 to 6, characterized in that: A first assembly platform (111) is provided on the outer side of the bottom wall of the storage bin body (1), and the first assembly platform (111) is fixedly connected to the moving part (32).

8. A self-locking storage device according to any one of claims 1 to 6, characterized in that: Guide rails (131) along a first direction are arranged outside the side plates (13) on both sides opposite to each other of the storage bin body (1), and the guide rails (131) are fixedly connected to the storage bin body (1).

9. A self-locking storage device according to any one of claims 1 to 6, characterized in that: The bottom wall of the storage bin body (1) is provided with reinforcing ribs (112), and the reinforcing ribs (112) are of a transverse structure, a longitudinal structure, or a transverse and longitudinal staggered structure.

10. A service robot, characterized in that: It comprises a robot body, wherein the robot body has a receiving cavity with one side open, wherein a self-locking storage device as claimed in any one of claims 1 to 9 is arranged in the receiving cavity, and the direction in which the receiving cavity is opened is consistent with the first direction.

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