Multi-connecting-rod door opening and closing structure and intelligent robot

Abstract

The utility model discloses a multi-connecting-rod door opening and closing structure and an intelligent robot, the multi-connecting-rod door opening and closing structure comprises a support main body, a driving motor, a left side door body and a right side door body, the left side door body is provided with a left side connecting rod assembly, and the right side door body is provided with a right side connecting rod assembly; a power output shaft of the driving motor is provided with a torsion regulator, the torsion regulator is provided with a driving piece, the driving piece is provided with a left side driving rod part and a right side driving rod part which rotate synchronously, the left side driving rod part drives the left side door body to move through a left side connecting rod assembly, and the right side driving rod part drives the right side door body to move through a right side connecting rod assembly. The multi-connecting-rod door opening and closing structure has the advantages of being novel in design, simple in structure and high in safety. Correspondingly, the intelligent robot has the advantages of being novel in design, simple in structure and high in safety.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a multi-link door opening and closing structure and an intelligent robot. Background Technology

[0002] The Chinese utility model patent with patent number ZL202123247055.7 and patent name "Storage Door Structure and Robot" discloses the following technical solution: A storage door structure includes a door body, a main body, a motor, a main connecting rod, and a secondary connecting rod. The main body is provided with a door body, which has two states: open and closed. The motor is provided inside the main body, and a secondary connecting rod is provided at the top of the motor. The motor can drive the secondary connecting rod to move. One side of the secondary connecting rod is connected to the main connecting rod, and the main connecting rod and the door body are hinged to each other. A door hinge is provided between the main body and the door body, and a photoelectric baffle is provided between the main body and the motor. Four sets of door bodies are provided on the main body, and the four sets of door bodies are symmetrically distributed on the center line of the main body. Four sets of motors are provided inside the main body.

[0003] During the opening and closing of the aforementioned door structure, when the main body moves to the appropriate position, the motor drives the auxiliary connecting rod at the top to move. The auxiliary connecting rod drives the main connecting rod to move, and the main connecting rod drives the door body to rotate around the door hinge as the center of rotation, thereby causing the door body to open and close.

[0004] It should be noted that the above-mentioned door structure has the following defects, specifically:

[0005] Defect 1: It cannot adjust the door clamping force, meaning it lacks anti-pinch function and is not safe enough.

[0006] Defect 2: Each door is driven by a separate motor. For robots with a double-door design, at least two motors are required, making the structure more complex. Utility Model Content

[0007] The purpose of this utility model is to provide a multi-link door opening and closing structure to address the shortcomings of the existing technology. This multi-link door opening and closing structure has a novel design, simple structure, high safety, and only requires one motor to realize the opening and closing action of the double door structure.

[0008] Another objective of this invention is to provide an intelligent robot that addresses the shortcomings of existing technologies. This intelligent robot features a novel design, simple structure, and high safety.

[0009] To achieve the above objectives, this utility model is implemented through the following technical solution.

[0010] A multi-link door opening and closing structure includes a support body, a drive motor, a left door body, and a right door body. The drive motor is fixedly installed on the support body, and the left door body and the right door body are arranged facing each other.

[0011] The left door is equipped with a left-side linkage assembly, and the right door is equipped with a right-side linkage assembly;

[0012] The power output shaft of the drive motor is equipped with a torque regulator, which is equipped with a drive component. The drive component has a left drive rod and a right drive rod that rotate synchronously. The left drive rod drives the left door body to move through the left connecting rod assembly, and the right drive rod drives the right door body to move through the right connecting rod assembly.

[0013] The left-side linkage assembly includes a left-side first linkage and a left-side second linkage. The left-side second linkage is pivotally hinged to the bracket body and has two free ends. One end of the left-side first linkage is pivotally connected to the end of the left-side drive rod, and the other end of the left-side first linkage is pivotally connected to one of the free ends of the left-side second linkage. The other free end of the left-side second linkage is pivotally connected to the left-side door body.

[0014] The right-side linkage assembly includes a right-side first linkage and a right-side second linkage. The right-side second linkage is pivotally hinged to the bracket body and has two free ends. One end of the right-side first linkage is pivotally connected to the end of the right-side drive rod, and the other end of the right-side first linkage is pivotally connected to one of the free ends of the right-side second linkage. The other free end of the right-side second linkage is pivotally connected to the right-side door body.

[0015] Wherein, the end of the left door body away from the left second link is equipped with a left third link, one end of the left third link is pivotally connected to the left door body, and the other end of the left third link is pivotally connected to the bracket body;

[0016] The right side door is equipped with a right side third link at the end away from the right side second link. One end of the right side third link is pivotally connected to the right side door, and the other end of the right side third link is pivotally connected to the support body.

[0017] The bracket body is equipped with a closed position switch and an open position switch;

[0018] When the left door or the right door rotates to the closed position, the left second link or the right second link triggers the closed position switch;

[0019] When the left or right door is rotated to the open position, the left or right second link triggers the open position switch.

[0020] An intelligent robot includes the aforementioned multi-link door opening and closing structure.

[0021] Compared with the prior art, the present invention has the following beneficial effects, specifically:

[0022] 1. This utility model uses a drive motor to drive the left and right door panels to move synchronously. Compared with the prior art, the overall structure of the multi-link door opening and closing structure of this utility model is simpler.

[0023] 2. The multi-link door opening and closing structure of this utility model can set the closing clamping force through a torque adjuster, thereby achieving anti-pinch function and high safety;

[0024] 3. Therefore, the multi-link door opening and closing structure of this utility model has the advantages of novel design, simple structure and high safety; correspondingly, the intelligent robot with this multi-link door opening and closing structure also has the advantages of novel design, simple structure and high safety. Attached Figure Description

[0025] The present invention will be further described below with reference to the accompanying drawings, but the embodiments in the drawings do not constitute any limitation on the present invention.

[0026] Figure 1 This is a schematic diagram of the multi-link door opening and closing structure of this utility model.

[0027] Figure 2 This is a schematic diagram of the multi-link door opening and closing structure from another perspective.

[0028] Figure 3 for Figure 2 A magnified view of a portion of the image.

[0029] Figure 4 This is a structural schematic diagram of the intelligent robot of this utility model.

[0030] exist Figures 1 to 4 This includes:

[0031] 1-Support body; 2-Drive motor; 31-Left door body; 32-Right door body; 41-Left linkage assembly; 411-Left first linkage; 412-Left second linkage; 413-Left third linkage; 42-Right linkage assembly; 421-Right first linkage; 422-Right second linkage; 423-Right third linkage; 5-Torque adjuster; 6-Drive component; 61-Left drive rod; 62-Right drive rod; 71-Closed position switch; 72-Closed position switch. Detailed Implementation

[0032] The present invention will now be described in conjunction with specific embodiments.

[0033] Example 1, as Figures 1 to 4 As shown, a multi-link door opening and closing structure includes a support body 1, a drive motor 2, a left door body 31, and a right door body 32. The drive motor 2 is fixedly installed on the support body 1, and the left door body 31 and the right door body 32 are arranged facing each other from left to right.

[0034] Among them, such as Figures 1 to 3 As shown, the left door 31 is equipped with a left connecting rod assembly 41, and the right door 32 is equipped with a right connecting rod assembly 42.

[0035] Furthermore, such as Figures 1 to 3 As shown, the power output shaft of the drive motor 2 is equipped with a torque regulator 5, the torque regulator 5 is equipped with a drive component 6, and the drive component 6 is provided with a left drive rod 61 and a right drive rod 62 that rotate synchronously. The left drive rod 61 drives the left door body 31 to move through the left connecting rod assembly 41, and the right drive rod 62 drives the right door body 32 to move through the right connecting rod assembly 42.

[0036] In the process of opening and closing the left door 31 and right door 32 of the double-leaf door structure in the multi-link door opening and closing structure of this embodiment, the drive motor 2 drives the drive component 6 to rotate through the torque regulator 5, and the left drive rod 61 and right drive rod 62 rotate synchronously. During this process, the left drive rod 61 drives the left door 31 to open and close through the left link assembly 41, and the right drive link drives the right door 32 to open and close through the right link assembly 42, thereby enabling the left door 31 and right door 32 of the double-leaf door structure to open and close.

[0037] It should be emphasized that the multi-link door opening and closing structure of this embodiment 1 uses a drive motor 2 to drive the left door body 31 and the right door body 32 to move synchronously. Compared with the prior art, the overall structure of the multi-link door opening and closing structure of this embodiment 1 is simpler.

[0038] Furthermore, regarding the torque adjuster 5 in this embodiment, the user can adaptively adjust the torque of the torque adjuster 5. When the left door 31 and the right door 32 are closed, that is, when the left door 31 and the right door 32 are rotated to the closed position respectively, the left door 31 blocks and reacts to the right door 32, and the right door 32 blocks and reacts to the left door 31. At this time, the torque adjuster 5 is subjected to an external force. When the external force is greater than the torque value set by the torque adjuster 5, slippage occurs between the power output shaft of the drive motor 2 and the torque adjuster 5. Therefore, the multi-link door opening and closing structure in this embodiment can set the closing clamping force through the torque adjuster 5, thereby achieving the anti-pinch function and high safety.

[0039] In summary, the multi-link door structure of this embodiment has the advantages of novel design, simple structure, and high safety, and only requires one motor to realize the opening and closing action of the double door structure.

[0040] Example 2, as Figures 1 to 3 As shown, the difference between this embodiment 2 and embodiment 1 is that: the left connecting rod assembly 41 includes a left first connecting rod 411 and a left second connecting rod 412. The left second connecting rod 412 is pivotally hinged to the bracket body 1, and the left second connecting rod 412 is provided with two free ends; one end of the left first connecting rod 411 is pivotally connected to the end of the left drive rod 61, the other end of the left first connecting rod 411 is pivotally connected to one of the free ends of the left second connecting rod 412, and the other free end of the left second connecting rod 412 is pivotally connected to the left door body 31.

[0041] Similarly, the right-side linkage assembly 42 includes a right-side first linkage 421 and a right-side second linkage 422. The right-side second linkage 422 is pivotally hinged to the bracket body 1 and has two free ends. One end of the right-side first linkage 421 is pivotally connected to the end of the right-side drive rod 62, and the other end of the right-side first linkage 421 is pivotally connected to one of the free ends of the right-side second linkage 422. The other free end of the right-side second linkage 422 is pivotally connected to the right-side door body 32.

[0042] Example 3, as Figure 1 As shown, the difference between this embodiment 3 and embodiment 2 is that: the end of the left door body 31 away from the left second connecting rod 412 is equipped with a left third connecting rod 413, one end of the left third connecting rod 413 is pivotally connected to the left door body 31, and the other end of the left third connecting rod 413 is pivotally connected to the bracket body 1.

[0043] Similarly, a right third link 423 is installed at the end of the right door 32 that is away from the right second link 422. One end of the right third link 423 is pivotally connected to the right door 32, and the other end of the right third link 423 is pivotally connected to the support body 1.

[0044] Example 4, as Figure 1 As shown, the difference between this embodiment four and embodiment two is that the bracket body 1 is equipped with a closed position switch 71 and an open position switch.

[0045] The multi-link door structure of this embodiment four is applied to an intelligent robot, and the closed position switch 71 and the open position switch of this embodiment four are electrically connected to the controller of the intelligent robot, and the drive motor 2 of this embodiment four is also electrically connected to the controller of the intelligent robot.

[0046] During operation, when the left door 31 or the right door 32 rotates to the closed position, the left second link 412 or the right second link 422 triggers the closed position switch 71. The closed position switch 71 sends a feedback signal to the controller of the intelligent robot, which then controls the drive motor 2 to stop moving, so that the drive motor 2 stops moving when the left door 31 and the right door 32 are closed.

[0047] When the left door 31 or the right door 32 rotates to the open position, the left second link 412 or the right second link 422 triggers the open position switch. The open position switch sends a feedback signal to the controller of the intelligent robot, which then controls the drive motor 2 to stop moving, so that the drive motor 2 stops moving when the left door 31 or the right door 32 is fully opened.

[0048] Example 5: An intelligent robot that includes the above-described multi-link door opening and closing structure.

[0049] It should be noted that, since the above-mentioned multi-link door opening and closing structure has the advantages of novel design, simple structure and high safety, the intelligent robot in this embodiment five also has the advantages of novel design, simple structure and high safety.

[0050] The above description is only a preferred embodiment of this utility model. For those skilled in the art, there will be changes in the specific implementation method and application scope based on the idea of ​​this utility model. The content of this specification should not be construed as a limitation of this utility model.

Claims

1. A multi-link door opening and closing structure, comprising a support body (1), a drive motor (2), a left door body (31), and a right door body (32), wherein the drive motor (2) is fastened to the support body (1), and the left door body (31) and the right door body (32) are arranged facing each other from left to right; The left door (31) is equipped with a left connecting rod assembly (41), and the right door (32) is equipped with a right connecting rod assembly (42). characterized in that The power output shaft of the drive motor (2) is equipped with a torque regulator (5), the torque regulator (5) is equipped with a drive component (6), the drive component (6) is provided with a left drive rod (61) and a right drive rod (62) that rotate synchronously. The left drive rod (61) drives the left door body (31) to move through the left connecting rod assembly (41), and the right drive rod (62) drives the right door body (32) to move through the right connecting rod assembly (42).

2. The multi-link door opening and closing structure according to claim 1, characterized in that: The left-side linkage assembly (41) includes a left-side first linkage (411) and a left-side second linkage (412). The left-side second linkage (412) is pivotally hinged to the bracket body (1) and has two free ends. One end of the left-side first linkage (411) is pivotally connected to the end of the left-side drive rod (61), and the other end of the left-side first linkage (411) is pivotally connected to one of the free ends of the left-side second linkage (412). The other free end of the left-side second linkage (412) is pivotally connected to the left-side door body (31). The right-side linkage assembly (42) includes a right-side first linkage (421) and a right-side second linkage (422). The right-side second linkage (422) is pivotally hinged to the bracket body (1) and has two free ends. One end of the right-side first linkage (421) is pivotally connected to the end of the right-side drive rod (62), and the other end of the right-side first linkage (421) is pivotally connected to one of the free ends of the right-side second linkage (422). The other free end of the right-side second linkage (422) is pivotally connected to the right-side door body (32).

3. The multi-link door opening and closing structure according to claim 2, characterized in that: The left side door (31) is provided with a left side third link (413) at the end away from the left side second link (412). One end of the left side third link (413) is pivotally connected to the left side door (31), and the other end of the left side third link (413) is pivotally connected to the support body (1). The right side door (32) is equipped with a right side third link (423) at the end away from the right side second link (422). One end of the right side third link (423) is pivotally connected to the right side door (32), and the other end of the right side third link (423) is pivotally connected to the support body (1).

4. The multi-link door opening and closing structure according to claim 2, characterized in that: The bracket body (1) is equipped with a closed position switch (71) and an open position switch; When the left door (31) or the right door (32) rotates to the closed position, the left second link (412) or the right second link (422) triggers the closed position switch (71). When the left door (31) or the right door (32) rotates to the open position, the left second link (412) or the right second link (422) triggers the open position switch.

5. An intelligent robot, characterized in that: It includes a multi-link door opening and closing structure as described in any one of claims 1-4.

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