Self-locking storage device and service robot

Abstract

The present application discloses a self-locking storage device and a service robot. The self-locking storage device comprises: a storage compartment 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 transmittingly 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 compartment body moving along with the moving member; and 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.

Description

Self-locking storage device and service robot TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a self-locking storage device and a service robot. BACKGROUND

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

[0003] To achieve the self-locking function of the electric drawer, mechanical locking devices such as ratchets and pawls are mainly used in the market. Although these devices can achieve self-locking to some extent, under high load or impact, the transmission system may be damaged or fail, resulting in the failure of the self-locking function. In addition, these mechanical locking devices usually have complex structures, increasing the manufacturing cost and maintenance difficulty.

[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, reducing the reliability and stability of the anti-pinch function.

[0005] Practical new type content

[0006] To overcome at least one of the above-mentioned defects of the prior art, the present application provides a self-locking storage device and a service robot. The anti-pinch hand problem can be solved and the self-locking function of the storage compartment body can be completed.

[0007] The technical solution adopted by the present application to solve the problem is:

[0008] A self-locking storage device, comprising: a storage compartment body; a permanent magnet synchronous motor, the permanent magnet synchronous motor being electrically connected with a current sensor; a transmission mechanism, the transmission mechanism comprising a transmission member and a moving member, the transmission member being in transmission connection with an output shaft of the permanent magnet synchronous motor, the transmission member driving the moving member to make linear reciprocating motion in a first direction, and the storage compartment body moving with 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.

[0009] By adopting the above scheme, through the cooperation of the permanent magnet synchronous motor and the transmission mechanism, stable positioning of the drawer when closing can be realized. Compared with the traditional mechanical locking device, this electric self-locking mode is more reliable and is not easily affected by high load or impact. 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 operation of the motor, thereby avoiding pinching fingers or other objects. This electric anti-pinch mode is more sensitive and reliable than the traditional mechanical structure, and is not easily affected by wear and contamination.

[0010] In some embodiments, a fixed plate is further included, the fixed plate is provided with a sliding groove in a 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 moves linearly and reciprocally along the sliding groove.

[0011] By adopting the above scheme, the fixed plate provides a stable mounting base, so that the permanent magnet synchronous motor and other related components can be firmly mounted thereon, and the transmission member moves linearly and reciprocally in the sliding groove through the driving of the permanent magnet synchronous motor. This design ensures that the movement trajectory of the transmission member is stable and accurate, thereby driving the moving member and the storage compartment body to move linearly and accurately. Due to the accurate movement of the transmission member and the moving member in the sliding groove, the self-locking function is further enhanced. When the drawer is closed, the transmission member and the moving member can be accurately positioned at the preset self-locking position, ensuring that the drawer is stably kept in the closed state; when the drawer encounters an obstacle during closing, the current sensor can quickly detect the load change of the motor, and the moving member is stopped at a certain position in the sliding groove through the transmission mechanism, thereby avoiding pinching fingers or other objects.

[0012] In some embodiments, the transmission mechanism further includes a support frame fixed with the fixed plate for limiting the transmission member in the sliding groove.

[0013] By adopting the above scheme, the support frame is fixedly connected with the fixed plate, providing additional support for the transmission member and also serving as a limiting function, which can ensure that the transmission member always moves in the sliding groove and prevents it from deviating from the predetermined trajectory.

[0014] In some embodiments, the transmission member is a conveyor belt, the moving 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 with a second pulley, the conveyor belt is wound between the first pulley and the second pulley, and the belt slider is displaced following the rotation of the conveyor belt.

[0015] By adopting the above scheme, the conveying belt serves as a transmission member and is responsible for converting the rotary motion of the permanent magnet synchronous motor into linear motion. The belt slider serves as a moving member and is in direct contact with the conveying belt. The belt slider is driven to move linearly in the sliding groove by the motion of the conveying belt, ensuring stable rotation of the conveying belt and effectively transmitting the torque of the motor to the belt slider.

[0016] In some embodiments, the belt slider comprises a slider body and a slider cover which are detachably connected to each other. The slider body is provided with a first pressing groove on the side facing the slider cover. The slider cover is provided with a second pressing groove on the side facing the slider body. The conveying belt is clamped between the first pressing groove and the second pressing groove.

[0017] By adopting the above scheme, the clamping action of the first pressing groove and the second pressing groove can ensure the stable position of the conveying belt between the slider cover and the slider body, preventing the conveying belt from shifting or jumping during sliding. By clamping the conveying belt, the direct contact area between the conveying belt and the belt slider can be reduced, thereby reducing the wear rate and prolonging the service life of the conveying belt.

[0018] In some embodiments, the transmission member is a lead screw, and the moving member is a lead screw slider. The support frame has a rotating groove for one end of the lead screw to rotate. The output shaft of the permanent magnet synchronous motor is drivingly connected to the other end of the lead screw for driving the lead screw to rotate. The lead screw slider converts the rotary force of the lead screw into a force for linear displacement along the axial direction of the lead screw.

[0019] By adopting the above scheme, due to the precise cooperation of the lead screw and the lead screw slider, the lead screw slider can accurately stop at the predetermined position when the drawer is closed, realizing the self-locking function of the drawer. During the closing of the drawer, 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 quickly respond and stop the rotation of the lead screw, thereby preventing the fingers or other objects from being pinched.

[0020] In some embodiments, the bottom wall of the storage compartment body is provided with a first assembly platform on the outside, and the first assembly platform is fixedly connected with the moving member.

[0021] By adopting the above scheme, the first assembly platform provides a stable mounting basis for the moving member, such as the belt slider. By fixedly connecting the moving member with the first assembly platform, the stability and reliability of the moving member during transmission can be ensured.

[0022] In some embodiments, the opposite side plates of the storage compartment body are provided with guide rails in the first direction on the outside, and the guide rails are fixedly connected with the storage compartment body.

[0023] By adopting the above scheme, the design of the guide rail can ensure that the drawer moves linearly along the predetermined trajectory during opening and closing, avoiding shaking or deviation of the drawer during sliding.

[0024] In some embodiments, the bottom wall of the storage compartment body is provided with a reinforcing rib, which is a transverse structure, a longitudinal structure or a transverse and longitudinal staggered structure.

[0025] By adopting the above scheme, the overall structural strength and rigidity of the drawer are enhanced, which can effectively resist external force and prevent deformation or damage of the drawer during use.

[0026] A service robot comprises a robot body having an open containing cavity on one side, and a self-locking storage device is arranged in the containing cavity, and the open direction of the containing cavity is consistent with the first direction.

[0027] By adopting the above scheme, the storage compartment body in the containing cavity of the service robot has the functions of self-locking and anti-pinch, ensuring the safety and reliability of the articles, preventing the articles from being damaged or lost during the movement or operation of the robot, and avoiding the risk of pinching hands when the storage compartment body is closed.

[0028] In summary, the self-locking storage device and the service robot provided by the present application have the following technical effects:

[0029] 1. The electric self-locking mode realized by the cooperation of the permanent magnet synchronous motor and the transmission mechanism is more reliable. This electric self-locking mode is not easily affected by high load or impact, thereby ensuring that the drawer can be stably kept at its position when closed; the electric self-locking mode also reduces the risk of self-locking failure caused by mechanical wear or looseness, thereby improving the service life and reliability of the storage device;

[0030] 2. By electrically connecting the permanent magnet synchronous motor with the current sensor, in combination 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 quickly respond and stop the operation of the motor, thereby avoiding pinching fingers or other articles;

[0031] 3. The design of the self-locking storage device and the service robot makes the operation process more safe and convenient for the user. The user does not need to worry about the problems of accidental opening of the drawer or pinching hands, thereby improving the comfort and safety of use; for the service robot, this design also enhances its autonomy and intelligence, so that it can better adapt to various environmental and task requirements;

[0032] 4. The structure of the electric self-locking and anti-pinch is relatively simple, which reduces the manufacturing cost and maintenance difficulty. At the same time, since the risk of mechanical wear and failure is reduced, the cost of maintenance and replacement of parts is also reduced. Attached Figure Description

[0033] Figure 1 is a schematic diagram of the closed state of the storage compartment body according to an embodiment of this application;

[0034] Figure 2 is a schematic diagram of the storage compartment body in the open state according to an embodiment of this application;

[0035] Figure 3 is a schematic diagram of the fixing plate structure according to an embodiment of this application;

[0036] Figure 4 is a bottom view of the closed storage compartment body according to an embodiment of this application.

[0037] Figure 5 is a top view of the storage compartment body in the open state according to an embodiment of this application;

[0038] Figure 6 is a schematic diagram of the transmission mechanism structure according to an embodiment of this application;

[0039] Figure 7 is a partial exploded structural diagram of the transmission mechanism according to an embodiment of this application;

[0040] Figure 8 is a schematic diagram of the partial explosion structure of the permanent magnet synchronous motor according to an embodiment of this application.

[0041] The meanings of the reference numerals in the attached drawings are as follows: 1. Storage compartment body; 11. Base plate; 111. First assembly platform; 112. Reinforcing rib; 12. Door panel; 13. Side panel; 131. Guide rail; 2. Permanent magnet synchronous motor; 21. Current sensor; 3. Transmission mechanism; 31. Transmission component; 311. Conveyor belt; 32. Moving component; 321. Belt slider; 33. Support frame; 331. Support column; 332. First pulley; 333. Second pulley; 4. Gearbox; 5. Fixing plate; 51. Sliding groove; 6. Sliding block body; 61. First pressure groove; 7. Sliding block cover; 71. Second pressure groove. Embodiments of the present invention

[0042] To better understand and implement this application, the technical solutions in the embodiments of this application will be clearly and completely described and discussed below with reference to the accompanying drawings. Obviously, what is described here is only a part of the examples of this application, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application.

[0043] To facilitate understanding of the embodiments of this application, the following will provide further explanation and description with reference to the accompanying drawings and specific embodiments, and the various embodiments do not constitute a limitation on the embodiments of this application.

[0044] In the description of the present application, it needs to be explained that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0045] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application herein is only for the purpose of describing specific embodiments of the present application and is not intended to limit the present application.

[0046] The embodiment 1 of the present application is shown in FIG. 1-8, which discloses a self-locking storage device, comprising a storage compartment body 1, a permanent magnet synchronous motor 2, a transmission mechanism 3 and a gear box 4, the storage compartment body 1 is spliced by five plates, including a bottom plate 11, a door plate 12 and three side plates 13, the transmission mechanism 3 includes a transmission member 31 and a moving member 32, the transmission member 31 is in transmission connection with the output shaft of the permanent magnet synchronous motor 2, the transmission member 31 drives the moving member 32 to make linear reciprocating motion in the first direction, the storage compartment body 1 moves with the moving member 32, so that the permanent magnet synchronous motor 2 can drive the movement of the storage compartment body 1, through accurate programming and control, the storage compartment body 1 can be moved to the designated position, when the drawer reaches the closed position, the controller of the permanent magnet synchronous motor 2 will receive a signal, then the motor stops and remains at the current position. In order to enhance the self-locking effect, the permanent magnet synchronous motor 2 with holding torque can be considered, so that even in the absence of electricity, the motor can provide certain resistance to prevent the drawer from opening accidentally; 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, which can be used to increase the output torque of the permanent magnet synchronous motor 2, so that the storage compartment body 1 can overcome the resistance when closing and keep the position stable, the design of the gear box 4 should ensure that the transmission system will not be damaged or fail under high load or impact, so as to maintain 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 arranged in the permanent magnet synchronous motor 2, or on the controller for controlling the permanent magnet synchronous motor 2, which can be electrically connected with the permanent magnet synchronous motor 2, and can be used to monitor the current of the motor in real time, when the storage compartment body 1 encounters obstacles such as fingers during movement, the movement of the storage compartment body 1 is blocked, causing the current of the permanent magnet synchronous motor 2 to increase, when the current exceeds the threshold value, the rotation of the permanent magnet synchronous motor 2 will be immediately stopped, and the motor may be reversed to slightly open the storage compartment body 1 to release the object being clamped.

[0047] The embodiment 1 also relates to a service robot, comprising a robot body (not shown in the figure), the robot body has an open containing cavity, a self-locking storage device is arranged in the containing cavity, the open direction of the containing cavity is consistent with the first direction, so that the storage compartment body 1 in the containing cavity of the service robot has self-locking and anti-pinch functions, ensuring the safety and reliability of the objects, preventing the objects from being damaged or lost during the movement or operation of the robot, and avoiding the risk of pinching hands when the storage compartment body 1 is closed.

[0048] In the embodiment 1, referring to FIG. 3, the accommodating cavity is provided with a fixed plate 5, the fixed plate 5 is provided with a sliding groove 51 in a first direction, the permanent magnet synchronous motor 2 is assembled to the fixed plate 5, the transmission member 31 is located in the sliding groove 51, and the moving member 32 moves linearly along the sliding groove 51. Referring to FIG. 4 and FIG. 6, the transmission mechanism 3 further comprises a support frame 33, the support frame 33 is fixed with the fixed plate 5, and is used for limiting the transmission member 31 in the sliding groove 51. Specifically, the transmission member 31 is a conveying belt 311, the moving member 32 is a belt slider 321, the support frame 33 comprises two support columns 331 and a first belt pulley 332 which is rotationally connected between the support columns 331, a second belt pulley 333 is connected to an output shaft of the permanent magnet synchronous motor 2, the conveying belt 311 is wound between the first belt pulley 332 and the second belt pulley 333, and the belt slider 321 is displaced by following the rotation of the conveying belt 311. Referring to FIG. 7, the belt slider 321 comprises a slider body 6 and a slider cover 7 which are detachably connected with each other, a first pressing groove 61 is arranged on one side of the slider body 6 which faces the slider cover 7, a second pressing groove 71 is arranged on one side of the slider cover 7 which faces the slider body 6, the conveying belt 311 is clamped between the first pressing groove 61 and the second pressing groove 71, and a locking screw is arranged between the slider cover 7 and the slider body 6, so as to lock the two, thereby improving the relative fixing effect of the conveying belt 311, the clamping effect of the first pressing groove 61 and the second pressing groove 71 can ensure the stable position of the conveying belt 311 between the slider cover 7 and the slider body 6, prevent the conveying belt 311 from deviating or jumping during the sliding process, by clamping the conveying belt 311, the direct contact area between the conveying belt 311 and the belt slider 321 can be reduced, thereby reducing the abrasion rate and prolonging the service life of the conveying belt 311. When the permanent magnet synchronous motor 2 rotationally drives the belt slider 321 to move towards the opening direction of the accommodating cavity, the storage compartment body 1 is opened, and vice versa.

[0049] In other embodiments, optionally, the transmission member 31 is a lead screw, the moving member 32 is a lead screw slider, the support frame 33 has a rotating groove for one end of the lead screw to rotate, the output shaft of the permanent magnet synchronous motor 2 is drivingly connected with the other end of the lead screw, so as to drive the lead screw to rotate, and the lead screw slider converts the rotating force of the lead screw into a force for linear displacement along the axial direction of the lead screw. When the permanent magnet synchronous motor 2 rotationally drives the lead screw slider to move towards the opening direction of the accommodating cavity, the storage compartment body 1 is opened, and vice versa.

[0050] It should be noted that the transmission mechanism 3 can also be a combination of a gear and a rack, and other transmission structures can also be adopted, and the embodiment is not limited in particular.

[0051] In order to improve the assembly stability between the moving part 32 and the storage compartment body 1, in the embodiment 1, as shown in FIG. 7, a first assembly platform 111 is arranged outside the bottom wall of the storage compartment body 1, and the first assembly platform 111 is fixedly connected with the moving part 32. Specifically, corresponding screw holes are arranged between the slide block body 6, the slide block cover 7 and the first assembly platform 111, and the three are assembled and fixed by screwing the screw through the three once, so as to improve the assembly stability among the three. Thus, the first assembly platform 111 provides a stable mounting basis for the moving part 32, such as the belt slide 321. By fixedly connecting the moving part 32 with the first assembly platform 111, the stability and reliability of the moving part 32 during transmission can be ensured.

[0052] In some embodiments, as shown in FIGS. 1-2, in order to improve the sliding stability between the storage compartment body 1 and the containing cavity when the storage compartment body 1 is opened and closed, guide rails 131 along the first direction are arranged outside the two side plates 13 of the storage compartment body 1, and the guide rails 131 are fixedly connected with the storage compartment body 1, including but not limited to being fixed by welding or screws. Corresponding guide grooves are arranged in the containing cavity for the guide rails 131 to realize the guiding effect, so that the drawer can move linearly along the predetermined track during opening and closing, avoiding the shaking or deviation of the drawer during sliding.

[0053] Optionally, as shown in FIGS. 5 and 7, in some embodiments, in order to improve the load-bearing capacity of the storage compartment body 1, reinforcing ribs 112 are arranged on the bottom wall of the storage compartment body 1, and the reinforcing ribs 112 are in a transverse structure, a longitudinal structure or a transverse and longitudinal staggered structure. In this way, the overall structural strength and rigidity of the drawer are enhanced, which can effectively resist external forces and prevent the drawer from deforming or being damaged during use.

[0054] In summary, the self-locking storage device and the service robot provided by the application have the following technical effects:

[0055] 1. The electric self-locking mode realized by cooperation of the permanent magnet synchronous motor 2 and the transmission mechanism 3 is more reliable. This electric self-locking mode is not easily affected by high load or impact, so as to ensure that the drawer can be stably kept at its position when closed; the electric self-locking mode 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;

[0056] 2. By connecting the permanent magnet synchronous motor 2 with 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 quickly respond and stop the motor from working, thereby avoiding the risk of pinching fingers or other objects;

[0057] 3. The self-locking storage device and service robot design makes the user more safe and convenient during operation. Users do not need to worry about the problem of accidental opening of the drawer or pinching of the hand, improving the comfort and safety of use; for service robots, this design also enhances their autonomy and intelligence, making them better adapt to various environments and task requirements;

[0058] 4. The structure of the electric self-locking and anti-pinch is relatively simple, reducing the manufacturing cost and maintenance difficulty. At the same time, due to the reduction of the risk of mechanical wear and failure, the cost of maintenance and replacement of parts is also reduced.

[0059] The technical means disclosed in the application scheme is not limited to the technical means disclosed in the above embodiments, but also includes the technical solutions composed of any combination of the above technical features. It should be noted that for ordinary skilled persons in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, which are also considered within the scope of protection of the present application.

Claims

1. A self-locking storage device, comprising: Storage compartment body (1); A permanent magnet synchronous motor (2) is electrically connected to a current sensor (21); The transmission mechanism (3) includes a transmission component (31) and a moving component (32). The transmission component (31) is connected to the output shaft of the permanent magnet synchronous motor (2). The transmission component (31) drives the moving component (32) to perform linear reciprocating motion in the first direction. The storage compartment body (1) moves with the moving component (32). A gearbox (4) is provided next to the permanent magnet synchronous motor (2), and the output shaft of the permanent magnet synchronous motor (2) is coaxially assembled with the gearbox (4).

2. The self-locking storage device according to claim 1 further includes a fixed plate (5), on which a sliding groove (51) is provided 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) moves linearly back and forth along the sliding groove (51).

3. A self-locking storage device according to claim 2, wherein, The transmission mechanism (3) further includes a support frame (33), which is fixed to the fixing plate (5) and is used to confine the transmission component (31) within the sliding groove (51).

4. A self-locking storage device according to claim 3, wherein, The transmission component (31) is a conveyor belt (311), the moving component (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 with the rotation of the conveyor belt (311).

5. A self-locking storage device according to claim 4, wherein, The belt slider (321) includes a slider body (6) and a slider cover (7) that are detachably connected to each other. The slider body (6) has a first pressure groove (61) on the side facing the slider cover (7), and the slider cover (7) has a second pressure groove (71) on the side facing the slider body (6). The conveyor belt (311) is sandwiched between the first pressure groove (61) and the second pressure groove (71).

6. A self-locking storage device according to claim 4, wherein, The transmission component (31) is a lead screw, the moving component (32) is a lead screw slider, the support frame (33) has a rotating groove for one end of the lead screw to rotate, the output shaft of the permanent magnet synchronous motor (2) is driven to the other end of the lead screw to drive the lead screw to rotate, and the lead screw slider converts the rotational force of the lead screw into a force along the linear displacement along the axial direction of the lead screw.

7. A self-locking storage device according to any one of claims 1-6, wherein, The storage compartment body (1) has a first assembly platform (111) on the outer side of its bottom wall, 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 1-6, wherein, The storage compartment body (1) has guide rails (131) on its two opposite side plates (13) along a first direction, and the guide rails (131) are fixedly connected to the storage compartment body (1).

9. A self-locking storage device according to any one of claims 1-6, wherein, The bottom wall of the storage compartment body (1) is provided with reinforcing ribs (112), which are horizontal structures, vertical structures or cross-sectional structures.

10. A service robot, comprising a robot body having a receiving cavity open on one side, wherein a self-locking storage device as described in any one of claims 1-9 is disposed within the receiving cavity, the direction in which the receiving cavity is open being consistent with a first direction.

Images