CN112109114B

CN112109114B - Door opening and closing mechanism and robot

Info

Publication number: CN112109114B
Application number: CN202010885983.7A
Authority: CN
Inventors: 刘贤林; 李骏; 何林
Original assignee: Shanghai Keenlon Intelligent Technology Co Ltd
Current assignee: Shanghai Keenlon Intelligent Technology Co Ltd
Priority date: 2020-08-28
Filing date: 2020-08-28
Publication date: 2021-12-07
Anticipated expiration: 2040-08-28
Also published as: CN112109114A

Abstract

The invention relates to the technical field of robots, and particularly discloses a door opening and closing mechanism and a robot. The door body in the door opening and closing mechanism provided by the invention is rotatably arranged on a robot cabin body through at least two linkage units at different positions, and the at least two linkage units respectively actuate around at least two rotation shafts which are staggered with each other, so that the door body can be adapted to special-shaped shells of different robots to move smoothly when being opened or closed, the door body can be opened at a larger angle, the door body cannot collide with similar objects when being opened, and the door body cannot occupy a large external space after being completely opened, so that the robot is convenient to be butted with other devices, and the structure of the robot is more compact. In addition, be connected with the damping protection subassembly between drive unit's output and the interlock unit, when the door body received the transmission to hinder, drive unit's output and interlock unit separation prevented that drive unit from hindering the back and producing fatigue and overheated, effectively protected drive unit not receive the strain.

Description

Door opening and closing mechanism and robot

Technical Field

The invention relates to the technical field of robots, in particular to a door opening and closing mechanism and a robot.

Background

Along with the logistics transportation technology develops towards intellectuality and automatic direction, the task that article were dispatched is replaced the manual work to carry out gradually to the robot, especially to public occasions such as hotel or office building, adopts the robot to carry out the transportation of express delivery, takeaway or article not only can reduce intensity of labour, save a large amount of cost of labor, improve conveying efficiency, can also improve the security of article transportation.

However, in the prior art, the door opening and closing mechanism of the robot is complex in structure, if the door body meets resistance, fatigue damage can be caused to the driving part for driving the door body to open and close, and when the door body is opened, the door body occupies a large external space.

Disclosure of Invention

The invention aims to provide a door opening and closing mechanism and a robot, which reduce the occupied space when a door body is opened and effectively protect a driving unit from strain.

In order to achieve the purpose, the invention adopts the following technical scheme:

the utility model provides a switch door mechanism, installs on the storehouse body of robot, includes:

the door body is rotatably arranged on the robot cabin body through at least two linkage units at different positions, and the at least two linkage units respectively actuate around at least two rotating shafts which are staggered with each other;

the output end of the driving unit is connected with one linkage unit through a damping protection assembly, and the damping protection assembly can enable the linkage unit to be separated from the output end of the driving unit when the door body is blocked by transmission.

Preferably, the damping protection assembly comprises a first connector, a second connector and a clutch;

one of the first connecting piece and the second connecting piece moves synchronously with the driving unit, and the other one is connected with the linkage unit;

the clutch piece can be connected with the first connecting piece and the second connecting piece, and when the door body is blocked by transmission, the clutch piece can enable the first connecting piece and the second connecting piece to be separated from transmission.

Preferably, the clutch member includes a first elastic member, at least one end of the first elastic member is connected with a spring block, and the spring block is detachably connected with the first connecting member or the second connecting member.

Preferably, be equipped with first holding tank on the first connecting piece, second connecting piece cover is located the first connecting piece outside, first elastic component wears to locate in the first holding tank, at least one end of first elastic component is worn out first connecting piece just the end connection of first elastic component has the bullet piece, wear out the bullet piece can prop the card and locate with the transmission connection in the first recess on the second connecting piece inside first connecting piece with the second connecting piece, when the door body receives the transmission and hinders, the bullet piece is mobile breaks away from first recess and activity shore in the inner wall of first connecting piece so that first connecting piece with the second connecting piece breaks away from the transmission.

Preferably, the drive unit includes driving motor, first connecting piece is including seting up in the epaxial second recess of driving motor's output, the second connecting piece cover is located on the output shaft, be equipped with the second holding tank on the second connecting piece, first elastic component is arranged in the second holding tank, the one end of first elastic component is worn to establish second connecting piece and end connection the bullet piece, the bullet piece can imbed connect with rotating in the second recess first connecting piece with the second connecting piece, work as when the door body receives the transmission and hinders, the bullet piece is mobile breaks away from the second recess and shore in the inner wall of second connecting piece is so that first connecting piece with the second connecting piece breaks away from the transmission.

Preferably, be equipped with the third holding tank on the first connecting piece, the tank bottom of third holding tank is worn to establish by the one end of second connecting piece, and the other end is arranged in the third holding tank, be equipped with the second elastic component in the third holding tank, the second elastic component enables the second connecting piece with the tank bottom of three holding tanks is connected when the door body 1 receives transmission obstacle, the second connecting piece can for the tank bottom of third holding tank slides.

Preferably, the first connecting member includes:

the cushion block is connected with the output end of the driving unit;

the tooth cylinder is provided with the third accommodating groove, the cushion block is connected with the tooth cylinder, a first tooth is arranged at the bottom of the third accommodating groove, a second tooth meshed with the first tooth is arranged on the second connecting piece, one end of the second elastic piece is abutted to the cushion block, and the other end of the second elastic piece is abutted to the second connecting piece.

Preferably, the door opening and closing mechanism further comprises a detection module for detecting the rotation angle of the door body;

the detection module comprises a first sensor for limiting the opening angle of the door body and/or a second sensor for limiting the closing angle of the door body;

the first sensor and the second sensor each include:

a base;

the sliding rod is slidably mounted on the base, and one end of the sliding rod is used for being in contact with the door body;

the signal detection piece is arranged on the base and is used for detecting the other end of the sliding rod;

and the reset piece enables the other end of the sliding rod to be far away from the signal detection piece when the sliding rod is not subjected to external force.

Preferably, the first sensor and the second sensor each further comprise:

the sliding seat is arranged on the base in a sliding mode, and the sliding rod is arranged on the sliding seat;

the signal detects the seat, the signal detects the piece install in on the signal detects the seat, the piece that resets includes the spring, the one end of spring with the signal detects the seat butt, the other end with the sliding seat butt.

A robot comprises a robot cabin body and the door opening and closing mechanism.

The beneficial effects of the invention include:

the door body is rotationally installed on the robot cabin body through two at least interlock units of different positions, two at least interlock units actuate around two at least axis of rotation that misplace each other respectively, make the door body can all adapt to the special-shaped shell of different robots and smooth and easy motion when opening or closing, the door body can be opened great angle, can not collide similar object when the door body is opened, and can not occupy very big exterior space after the door body is opened completely, be convenient for the robot and dock with other devices, make the structure of robot compacter. In addition, be connected with the damping protection subassembly between drive unit's output and the interlock unit, when the door body received the transmission to hinder, drive unit's output and interlock unit separation prevented that drive unit from hindering the back and producing fatigue and overheated, effectively protected drive unit not receive the strain.

Drawings

Fig. 1 is a schematic structural diagram of a robot provided in an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a door opening and closing mechanism provided in an embodiment of the present invention;

FIG. 3 is a structural schematic diagram of a first damping protection assembly structure provided in the embodiment of the present invention;

FIG. 4 is an exploded view of a first damping protection assembly structure provided by an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a second damping protection component structure provided in the embodiment of the present invention;

fig. 6 is an exploded view of a second damping protection component structure provided in the embodiment of the present invention;

fig. 7 is a schematic structural diagram of a third damping protection component structure provided in the embodiment of the present invention;

fig. 8 is an exploded view of a third view of a damping protection assembly according to an embodiment of the present invention;

fig. 9 is an exploded view of a third view of the damping protection assembly structure provided in the embodiment of the present invention;

fig. 10 is a schematic structural diagram of a first sensor or a second sensor provided in an embodiment of the present invention;

fig. 11 is an exploded view of a first sensor or a second sensor provided by an embodiment of the present invention.

In the figure:

100. a robot cabin body;

1. a door body; 2. a first shaft; 3. a second shaft; 4. a support member; 5. a drive rod;

6. a drive unit; 61. a drive motor;

7. a damping protection component; 71. a first connecting member; 711. a first accommodating groove; 712. a second groove; 713. cushion blocks; 714. a gear cylinder; 7141. a third accommodating groove; 7142. a first tooth; 72. a second connecting member; 721. a first groove; 722. a second accommodating groove; 723. a second tooth; 73. a clutch member; 731. a first elastic member; 732. a spring block; 733. a second elastic member;

8. a detection module; 81. a first sensor; 82. a second sensor; 811. a base; 812. a slide bar; 813. a signal detection member; 814. a reset member; 815. a sliding seat; 8151. a hook; 816. a signal detection seat; 817. and a guide post.

Detailed Description

In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The mechanism structure of opening and shutting to robot among the prior art is complicated, and the door body is if meetting the resistance, then can produce fatigue damage to the driving piece that the driving door body opened and shut, and when the door body was opened, the problem that the external space is big can be taken up to the door body, and this embodiment provides a robot in order to solve above-mentioned problem.

As shown in fig. 1 and 2, in the present embodiment, the robot includes a robot cabin 100 and a door opening and closing mechanism mounted on the robot cabin 100. The door opening and closing mechanism comprises a door body 1 and a driving unit 6, the door body 1 is rotatably arranged on the robot cabin body 100 through at least two linkage units at different positions, and the at least two linkage units respectively act around at least two rotating shafts which are staggered with each other; an output shaft of the driving unit 6 is connected with one linkage unit through a damping protection assembly 7, the driving unit 6 drives the door body 1 to open and close the robot cabin body 100 along a curved track, and the damping protection assembly 7 can enable the linkage unit to be separated from the output end of the driving unit 6 for transmission when the door body 1 is subjected to a force opposite to the driving direction of the driving unit 6 or is blocked and the like.

The door body 1 is rotationally installed on the robot cabin body 100 through at least two linkage units at different positions, the at least two linkage units respectively actuate around at least two rotating shafts which are staggered with each other, the door body 1 can adapt to special-shaped shells of different robots when being opened or closed and move smoothly, the door body 1 can be opened at a larger angle, the door body 1 cannot collide with similar objects when being opened, and the door body 1 cannot occupy a large external space after being completely opened, the robot is convenient to be butted with other devices, and the structure of the robot is more compact. In addition, be connected with damping protection subassembly 7 between drive unit 6's output and the interlock unit, when the door body 1 received the transmission to hinder, drive unit 6's output and interlock unit separation prevented that drive unit 6 from hindering the back and producing fatigue and overheated, effectively protected drive unit 6 not receive the strain.

In this embodiment, the door body 1 is mounted on the robot cabin 100 through a first linkage unit and a second linkage unit, the first linkage unit is rotatably mounted on the robot cabin 100 through a first shaft 2, the second linkage unit is rotatably mounted on the robot cabin 100 through a second shaft 3, and the first shaft 2 and the second shaft 3 are mutually dislocated. The door body 1 is provided with a first connecting part and a second connecting part, the first connecting part is pivoted with the outer extending end of the first linkage unit, the second connecting part is pivoted with the outer extending end of the second linkage unit, further, the first connecting part can move along a circumferential track around the first shaft 2, the second connecting part can move along a circumferential track around the second shaft 3, and the door body 1 can move along a curved track; any one or both of the first linkage unit and the second linkage unit can automatically drive the door body 1 to open and close the robot cabin body 100 along the lateral direction.

Further, the second linkage unit comprises a support member 4, one end of the support member 4 is pivoted with the robot cabin body 100 through a second shaft 3, and the other end of the support member 4 is pivoted with the door body 1. In order to facilitate the door body 1 to be opened and closed without interfering with other parts on the robot and enable the door body 1 to move along the shape of the robot, the support member 4 is provided in a curved shape. Specifically, support piece 4 includes first support section and the second support section of connecting through buckling, and first support section is used for with the pivot joint of the storehouse body 100 of robot, and the second supports section and the pivot joint of a body 1, and the second supports the section and is unanimous with the direction that a body 1 was opened for the direction of buckling of first support section, is convenient for when a body 1 was opened the lateral part motion towards the robot, does not influence the outward appearance of robot, and can increase the angle that a body 1 was opened.

The first linkage unit comprises a driving rod 5, one end of the driving rod 5 is pivoted with the robot cabin body 100 through a first shaft 2, and the other end of the driving rod 5 is pivoted with the door body 1. In this embodiment, the driving unit 6 drives the first shaft 2 to rotate, and then the driving rod 5 is driven to rotate by taking the first shaft 2 as a center, so that the door body 1 rotates by taking the first shaft 2 as a center, and meanwhile, the supporting piece 4 rotates around the second shaft 3, so that the door body 1 rotates by taking the first shaft 2 and the second shaft 3 as centers at the same time, the door body 1 can move along the shape of the robot when being opened or closed, and in the moving process, the front end of a single door body 1 can gradually be closer to the shell of the robot relative to the rear end of the door body 1, so that the door body 1 can be opened at a larger angle, and the door body 1 cannot collide with a similar object when being opened.

As shown in fig. 3 to 9, in the present embodiment, the damping protection assembly 7 includes a first connecting member 71, a second connecting member 72 and a clutch member 73, one of the first connecting member 71 and the second connecting member 72 moves synchronously with the driving unit 6, the other one is connected with the linkage unit, the clutch member 73 can connect the first connecting member 71 and the second connecting member 72, and when the door body 1 is hindered by transmission, the clutch member 73 can disconnect the first connecting member 71 from the second connecting member 72. When the door body 1 is hindered by transmission, the damping protection component 7 protects the driving unit 6 from overheating caused by fatigue due to the resistance, so that the driving unit 6 is not damaged.

Further, as shown in fig. 3 to 6, the clutch member 73 includes a first elastic member 731, at least one end of the first elastic member 731 is connected with a spring block 732, and the spring block 732 is detachably connected with the first connector 71 or the second connector 72. When the door body 1 is hindered by transmission, the driving unit 6 drives the first connecting piece 71 to continue rotating, the second connecting piece 72 cannot continue rotating along with the first connecting piece 71, the elastic block 732 is separated from the first connecting piece 71 or the second connecting piece 72 by the rotating force, and then the first connecting piece 71 is not connected with the second connecting piece 72, so that the driving unit 6 is ensured not to be hindered from rotating, and the driving unit 6 is protected.

Further, as shown in fig. 3-4, a first receiving groove 711 is disposed on the first connecting member 71, the second connecting member 72 is sleeved outside the first connecting member 71, the first elastic member 731 is disposed in the first receiving groove 711, at least one end of the first elastic member 731 penetrates out of the first connecting member 71, and the end of the first elastic member 731 is connected to an elastic block 732, the penetrating elastic block 732 can be clamped in a first groove 721 on an inner wall of the second connecting member 72 to be in transmission connection with the first connecting member 71 and the second connecting member 72, and when the door body 1 is hindered by transmission, the elastic block 732 can be movably separated from the first groove 721 and movably supported on the inner wall of the first connecting member 71 to separate the first connecting member 71 from the second connecting member 72. Specifically, the second connecting member 72 is sleeved outside the first connecting member 71, the second connecting member 72 can rotate relative to the first connecting member 71, and the second connecting member 72 is fixedly connected to the first connecting member 71 through the first elastic member 731 and the elastic block 732. When the second connecting member 72 is hindered from transmission, the elastic block 732 is disengaged from the first recess 721 along with the normal rotation of the first connecting member 71, and the elastic block 732 presses the first elastic member 731 to retract into the first connecting member 71 under the action of the inner sidewall of the second connecting member 72. In this embodiment, the two ends of the first elastic element 731 are both inserted into the first connecting element 71 and the ends are connected with the elastic blocks 732, the elastic blocks 732 are embedded into the corresponding first grooves 721, and the two elastic blocks 732 are arranged to improve the stability of the connection between the first connecting element 71 and the second connecting element 72, but do not affect the separation between the first connecting element 71 and the second connecting element 72. The first elastic member 731 is preferably a compression spring.

In another embodiment, as shown in fig. 5 to 6, the driving unit 6 includes a driving motor 61, the first connecting member 71 includes a second groove 712 disposed on an output shaft of the driving motor 61, the second connecting member 72 is sleeved on the output shaft, the second connecting member 72 is provided with a second receiving groove 722, the first elastic member 731 is disposed in the second receiving groove 722, one end of the first elastic member 731 penetrates the second connecting member 72 and is connected to the elastic block 732, the elastic block 732 can be embedded in the second groove 712 to rotatably connect the first connecting member 71 and the second connecting member 72, when the door body 1 is obstructed by transmission, the elastic block 732 can be movably separated from the second groove 712 and prop against an inner wall of the second connecting member 72 to separate the first connecting member 71 from the second connecting member 72. When the door body 1 is hindered by transmission, the elastic block 732 is separated from the second groove 712 along with the rotation of the output shaft of the driving motor 61, and the elastic block 732 presses the first elastic member 731 to retract into the second connecting member 72 under the action of the side wall of the output shaft. The first elastic member 731 is preferably a compression spring.

In another embodiment, as shown in fig. 7 to 9, the first connecting member 71 is provided with a third receiving groove 7141, one end of the second connecting member 72 penetrates through the bottom of the third receiving groove 7141, the other end of the second connecting member is disposed in the third receiving groove 7141, the third receiving groove 7141 is provided with a second elastic member 733, the second elastic member 733 enables the second connecting member 72 to be connected with the bottom of the third receiving groove 7141, and when the door body 1 is hindered by transmission, the second connecting member 72 can slide relative to the bottom of the third receiving groove 7141. When the door body 1 is hindered by transmission, the second connecting piece 72 can jump upwards to compress the second elastic piece 733, the second connecting piece 72 can be separated from the first connecting piece 71 instantly, the first connecting piece 71 continues to rotate along with the driving unit 6, the force borne by the second connecting piece 72 cannot hinder the normal operation of the driving unit 6, and the driving unit 6 is effectively protected.

Specifically, the first connector 71 includes a spacer 713 and a gear barrel 714, the spacer 713 is connected to an output end of the driving unit 6, and specifically, the spacer 713 is connected to an output shaft of the driving motor 61. In this embodiment, the cushion block 713 is sleeved on the outer side of the output shaft of the driving motor 61 and is fixedly connected with the output shaft of the driving motor 61, and a convex block is further arranged in the middle of the cushion block 713 along the circumferential direction. The gear barrel 714 is provided with a third accommodating groove 7141, the cushion block 713 is connected with the gear barrel 714, the bottom of the third accommodating groove 7141 is provided with a first tooth 7142, the second connecting piece 72 is provided with a second tooth 723 meshed with the first tooth 7142, one end of the second elastic piece 733 is abutted with the cushion block 713, namely, the surface of the convex block, and the other end of the second elastic piece 733 is abutted with the second connecting piece 72. In this embodiment, the second connecting member 72 is T-shaped, the small end of the second connecting member 72 penetrates through the bottom of the third receiving groove 7141, the second tooth 723 is disposed on the surface of the large end of the second connecting member 72 contacting the bottom of the third receiving groove 7141, the surface of the large end opposite to the second tooth 723 is provided with a groove, and one end of the second elastic member 733 abuts against the bottom of the groove. The connecting structure is simple, and the first connecting piece 71 and the second connecting piece 72 can be effectively separated, so that the purpose of protecting the driving motor 61 is achieved. The second elastic member 733 is preferably a compression spring.

In order to make the first tooth 7142 and the second tooth 723 easy to disengage, chamfers are arranged on two sides of the first tooth 7142 and two sides of the second tooth 723, so that the friction force between the first tooth 7142 and the second tooth 723 is reduced, and the service life of the damping protection assembly 7 is prolonged.

At the moment that the door body 1 is opened or closed, if a corresponding protection device is not provided, the door body 1 has a risk of colliding with other parts of the robot, and therefore, in order to solve the above problem, in the present embodiment, the door opening and closing mechanism further includes a detection module 8 (see fig. 2) for detecting a rotation angle of the door body 1.

Specifically, the detection module 8 includes a first sensor 81 for limiting the opening angle of the door body 1 and/or a second sensor 82 for limiting the closing angle of the door body 1, so as to control the opening and closing positions of the door body 1 and prevent the door body 1 from colliding with other parts of the robot.

As shown in fig. 10 and 11, the first sensor 81 and the second sensor 82 have the same structure, and each of them includes a base 811, a sliding rod 812, a signal detecting member 813, and a restoring member 814. A sliding rod 812 is slidably mounted on the base 811, and one end of the sliding rod 812 is used for contacting with the door body 1; the signal detection part 813 is arranged on the base 811, and the signal detection part 813 is used for detecting the other end of the sliding rod 812; when the sliding rod 812 is not subjected to an external force, the restoring member 814 moves the other end of the sliding rod 812 away from the signal detecting member 813. When the door body 1 contacts the sliding rod 812, the sliding rod 812 slides relative to the base 811, the other end of the sliding rod 812 moves towards the signal detection part 813 until the signal detection part 813 detects an end signal of the sliding rod 812, the signal detection part 813 sends a signal to the controller, and the controller controls the driving motor 61 to stop rotating, so that the door body 1 stops moving, and the accurate control of the position of the door body 1 is realized. Door body 1 makes signal detection piece 813 detect the signal of slide bar 812 through promoting slide bar 812, and then the position of the control door body 1, and this structure detection stability is good, compares sensor direct detection door body 1, and this signal detection piece 813 can not receive external environment and disturb, and then can not cause the chaotic problem of door body 1 control, has improved the stability of robot operation.

In this embodiment, the first sensor 81 and the second sensor 82 further include a sliding seat 815 and a signal detecting seat 816, the sliding seat 815 is slidably disposed on the base 811, and the sliding rod 812 is mounted on the sliding seat 815. The signal detection member 813 is mounted on the signal detection seat 816, and the reset member 814 includes a spring, one end of which abuts against the signal detection seat 816 and the other end of which abuts against the sliding seat 815. Specifically, the signal detection seat 816 is a U-shaped seat, the two opposite side walls of the signal detection seat 816 are provided with the signal detection parts 813, the probes of the two signal detection parts 813 are arranged oppositely, and the other end of the sliding rod 812 can slide into the space between the two signal detection parts 813, so that the signal detection parts 813 can detect signals. The signal detection member 813 is preferably a photosensor. The two sides of the end of the sliding seat 815, which is disposed in the base 811, are both provided with hooks 8151, the two side walls of the base 811 are provided with openings, the length of the opening is the movable range of the sliding seat 815, and when the sliding rod 812 is not pressed, the hooks 8151 are clamped on the side walls of the opening to prevent the sliding seat 815 from separating from the base 811. The sliding seat 815 is provided with a groove, and one end of the sliding rod 812 penetrates through the groove bottom of the sliding seat 815. Two springs are preferably arranged, the two springs are symmetrically arranged relative to the sliding rod 812, one end of each spring is abutted against the end face of the signal detection seat 816, a guide column 817 is arranged at the bottom of the sliding seat 815, and the other end of each spring is sleeved on the guide column 817 and is abutted against the bottom of the groove of the sliding seat 815. The spring is sleeved on the guide column 817, so that the spring is limited, and the spring can be normally compressed and bounced.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. The utility model provides a switch door mechanism, installs on the storehouse body of robot (100), its characterized in that includes:

the door body (1) is rotatably arranged on the robot cabin body (100) through at least two linkage units at different positions, and the at least two linkage units respectively act around at least two rotating shafts which are staggered with each other;

the output end of the driving unit (6) is connected with one linkage unit through a damping protection assembly (7), and the damping protection assembly (7) can enable the linkage unit to be separated from the output end of the driving unit (6) to be in transmission when the door body (1) is hindered by transmission;

the damping protection assembly (7) comprises a first connecting piece (71), a second connecting piece (72) and a clutch piece (73);

one of the first connecting piece (71) and the second connecting piece (72) moves synchronously with the driving unit (6), and the other one is connected with the linkage unit;

the clutch piece (73) can be connected with the first connecting piece (71) and the second connecting piece (72), and when the door body (1) is blocked by transmission, the clutch piece (73) can enable the first connecting piece (71) and the second connecting piece (72) to be separated from transmission.

2. The door opening and closing mechanism according to claim 1, wherein the clutch member (73) includes a first elastic member (731), at least one end of the first elastic member (731) is connected with a spring block (732), and the spring block (732) is detachably connected with the first link member (71) or the second link member (72).

3. The door opening and closing mechanism according to claim 2, wherein a first accommodating groove (711) is formed in the first connecting member (71), the second connecting member (72) is sleeved outside the first connecting member (71), the first elastic member (731) is arranged in the first accommodating groove (711) in a penetrating manner, at least one end of the first elastic member (731) penetrates out of the first connecting member (71), the end portion of the first elastic member (731) is connected with the elastic block (732), the penetrating elastic block (732) can be clamped in the first groove (721) in the inner wall of the second connecting member (72) in a supporting manner to be connected with the first connecting member (71) and the second connecting member (72) in a driving manner, and when the door body (1) is blocked in the driving manner, the elastic block (732) can be movably separated from the first groove (721) and movably supported on the inner wall of the first connecting member (71) to enable the first connecting member (71) and the second connecting member (71) to be connected with the second connecting member (71) in a supporting manner The connecting piece (72) is disengaged from the transmission.

4. The door opening and closing mechanism according to claim 2, wherein the driving unit (6) comprises a driving motor (61), the first connecting member (71) comprises a second groove (712) formed in an output shaft of the driving motor (61), the second connecting member (72) is sleeved on the output shaft, a second accommodating groove (722) is formed in the second connecting member (72), the first elastic member (731) is arranged in the second accommodating groove (722), one end of the first elastic member (731) penetrates through the second connecting member (72) and is connected with the elastic block (732) at the end part, the elastic block (732) can be embedded into the second groove (712) to rotatably connect the first connecting member (71) and the second connecting member (72), and when the door body (1) is blocked by transmission, the elastic block (732) can be movably separated from the second groove (712) and prop against the inner wall of the second connecting member (72) to enable the elastic block (732) to be movably separated from the second groove (712) and to enable the inner wall of the second connecting member (72) to be supported The first connecting piece (71) and the second connecting piece (72) are separated from transmission.

5. The door opening and closing mechanism according to claim 1, wherein a third accommodating groove (7141) is formed in the first connecting piece (71), one end of the second connecting piece (72) penetrates through the groove bottom of the third accommodating groove (7141), the other end of the second connecting piece is arranged in the third accommodating groove (7141), a second elastic piece (733) is arranged in the third accommodating groove (7141), the second elastic piece (733) enables the second connecting piece (72) to be connected with the groove bottom of the third accommodating groove (7141), and when the door body (1) is blocked by transmission, the second connecting piece (72) can slide relative to the groove bottom of the third accommodating groove (7141).

6. A switch door mechanism according to claim 5, characterized in that the first connector (71) comprises:

a cushion block (713) connected with the output end of the driving unit (6);

tooth cylinder (714), set up on tooth cylinder (714) third holding tank (7141), cushion (713) with tooth cylinder (714) are connected, the tank bottom of third holding tank (7141) is equipped with first tooth (7142), be equipped with on second connecting piece (72) with second tooth (723) of first tooth (7142) meshing, the one end of second elastic component (733) with cushion (713) butt, the other end with second connecting piece (72) butt.

7. The door opening and closing mechanism according to any one of claims 1 to 6, further comprising a detection module (8) for detecting a rotation angle of the door body (1);

the detection module (8) comprises a first sensor (81) for limiting the opening angle of the door body (1) and/or a second sensor (82) for limiting the closing angle of the door body (1);

the first sensor (81) and the second sensor (82) each comprise:

a base (811);

the sliding rod (812) is slidably mounted on the base (811), and one end of the sliding rod (812) is used for being in contact with the door body (1);

a signal detection part (813) disposed on the base (811), the signal detection part (813) being for detecting the other end of the slide lever (812);

and the resetting piece (814) enables the other end of the sliding rod (812) to be far away from the signal detection piece (813) when the sliding rod (812) is not subjected to external force.

8. The switching door mechanism according to claim 7, wherein the first sensor (81) and the second sensor (82) each further comprise:

the sliding seat (815) is arranged on the base (811) in a sliding mode, and the sliding rod (812) is arranged on the sliding seat (815);

the signal detection seat (816), signal detection spare (813) is installed on signal detection seat (816), reset piece (814) includes the spring, the one end of spring with signal detection seat (816) butt, the other end with slide seat (815) butt.

9. Robot, characterized in that it comprises a robot cabin (100) and a door opening and closing mechanism according to any of claims 1-8.