CN110509296A - A kind of article cabin headstock gear, service robot for preventing from opening by mistake - Google Patents
A kind of article cabin headstock gear, service robot for preventing from opening by mistake Download PDFInfo
- Publication number
- CN110509296A CN110509296A CN201910855128.9A CN201910855128A CN110509296A CN 110509296 A CN110509296 A CN 110509296A CN 201910855128 A CN201910855128 A CN 201910855128A CN 110509296 A CN110509296 A CN 110509296A
- Authority
- CN
- China
- Prior art keywords
- crank
- hatchcover
- opening
- rocker mechanism
- mistake
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 52
- 230000033001 locomotion Effects 0.000 abstract description 17
- 230000009471 action Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 9
- 238000013461 design Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000006872 improvement Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003466 anti-cipated effect Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Power-Operated Mechanisms For Wings (AREA)
Abstract
The invention discloses a kind of article cabin headstock gears and service robot for preventing from opening by mistake, wherein article cabin headstock gear includes crank and rocker mechanism, and when crank is located at first position, hatchcover is closed to cover the opening in article cabin；When crank is located at the second position, hatchcover opens the opening in article cabin；Actuator, driving crank are rocked to the second position from first position forward direction and swing go back to first position from the second position；Limit assembly is adjacent to the side of crank and rocker mechanism；Wherein, when the hatchcover of closure is by the external force for opening hatchcover, the external force is converted into the active force for making crank from first position backswing by crank and rocker mechanism；The crank and rocker mechanism supports the limit assembly with negative function power, and then locks hatchcover.The present invention drives crank and rocker mechanism movement by actuator, and then hatchcover is driven to complete on-off action；The torque of crank and rocker mechanism is small, noise is small, is conducive to the service life for improving actuator.
Description
Technical field
The invention belongs to the technical fields of intelligent robot, and in particular to a kind of article cabin headstock gear for preventing from opening by mistake,
Service robot.
Background technique
With social progress and development, intellect service robot also gradually substitutes the manual service of part.Currently, intelligence
Service robot is mainly used in office building and hotel, is substantially carried out the services of voice dialogue, indoor guidance.And existing rank
The intellect service robot of section is also equipped with the ability of transport article to designated place, such as food delivery, express delivery.
In the implementation of the present invention, it is found by the applicant that existing product the prior art has at least the following problems:
Since the mobility of people of office building and hotel is big, many and diverse, operation Intellectual garment can not be carried out to all people person
The training of business robot.This also causes intellect service robot during transporting article, and the hatchcover in article cabin is made by improper
With by intentional or unintentional artificial unlatching hatchcover；Article can also have the risk taken away by the personnel of non-owner.
And existing intellect service robot, hatchcover opening device have the defects that be easy for artificially being opened.Such as
A kind of gear mechanism open-door system and vehicle disclosed in China's application number 201520754287.7 and robot, application No. is
A kind of robot storage arrangement disclosed in 201710832657.8, application No. is a kind of hatchcovers disclosed in 201811649222.0
Switching mechanism and robot.
The design of above-mentioned intellect service robot, the transmission mechanism of driving hatchcover opening and closing is unreasonable, can not lock cabin
Door；On the other hand, the power source of drive transmission device is mostly micro-machine, and the output shaft of the micro-machine after stalling can not have
Effect braking, to lock hatch door.Existing product does not prevent from artificially opening well.
Summary of the invention
The invention aims to solve the technical issues of existing service robot can not prevent artificial unlatching by force,
A kind of article cabin headstock gear, service robot for preventing from opening by mistake is provided.
To solve the above-mentioned problems, the present invention is achieved by following technical scheme:
A kind of article cabin headstock gear for preventing from opening by mistake of the present invention, comprising:
Crank and rocker mechanism comprising crank, connecting rod and the rocking bar being connect with hatchcover being connected；When crank is located at
When first position, rocking bar makes the opening in hatchcover closure article cabin；When crank is located at the second position, rocking bar makes hatchcover open article cabin
Opening；
Actuator drives the crank, so that crank from first position forward direction is rocked to the second position and from second
Position swings go back to first position；
Limit assembly is set to the side of crank and rocker mechanism；
Wherein, when the hatchcover of closure is by the external force for opening hatchcover, the external force is converted by crank and rocker mechanism makes song
Active force of the handle from first position backswing；The crank and rocker mechanism supports the limit assembly with negative function power, into
And lock hatchcover.
Preferably, when crank is located at first position, the crank is not arranged collinearly with connecting rod, drives convenient for active force bent
Handle is from first position backswing.
Preferably, the limit assembly is contacted with the crank or connecting rod to offset the active force.
Preferably, when crank is located at first position, the crank and rocker mechanism supports the limit assembly positioned at side, institute
State crank can the angle of backswing be zero so that hatchcover locks completely.
Preferably, the limit assembly and the spaced a distance setting of crank and rocker mechanism；The active force makes crank from
One position backswing is to the third place；
When crank is located at the third place, crank and rocker mechanism supports limit assembly to offset active force, and the cabin
Lid manifests the outs open in article cabin.
Preferably, the limit assembly includes:
Mounting base is fixedly installed on the side of crank；
Locating part, middle part is hinged with mounting base, so that locating part can have mercy on, the middle part of itself is swung；The top of the locating part
End is hook portion, and the bottom end of locating part is vacantly arranged；
Wherein, when crank is located at first position, the hook portion of locating part is vacantly in the top of crank；When crank is located at third
When position, locating part locking can not be swung, and crank supports the hook portion of locating part to offset active force.
Preferably, the crank includes crank axle, and one end of the crank axle is for crank and actuator to be sequentially connected
Interconnecting piece, the other end of crank axle is for by crank and the hinged articulated section of connecting rod；
Outwardly extending lug boss is additionally provided on the articulated section, the lug boss is used to support the hook portion of locating part.
Preferably, the actuator includes servo motor and control element interconnected；The output shaft of servo motor drives
The dynamic connection crank；
When crank is swung from first position to the second position or is swung from the second position to first position, the control
Element processed obtains the current value of servo motor, and judges whether current value is greater than threshold values；If so, control servo motor reversion.
Preferably, the rocking bar is fixedly connected with hatchcover, and rocking bar drives hatchcover to swing, and the swing angle of the hatchcover is 0
~100 °.
The present invention also provides a kind of service robots, including the above-mentioned article cabin headstock gear for preventing from opening by mistake.
Compared with prior art, the beneficial effects of the present invention are:
1, the present invention drives crank and rocker mechanism movement by actuator, and then hatchcover is driven to complete on-off action；Crank
The torque of rocker device is small, noise is small, is conducive to the service life for improving actuator.Meanwhile existing product is compared, it is of the invention
Drive mechanism, mode are more simple, even if hatchcover is opened by force and damages drive mechanism, are also easy maintenance and replacement, drop
Low-maintenance cost.
2, the present invention passes through the kinetic characteristic and structural principle of crank and rocker mechanism, when rocking bar converts driving link from driven member
When, the movement of crank and rocker mechanism, and then locking rocker are limited by the limit assembly added, and realize that hatchcover can not be opened.
Meanwhile rotating forward and rotating backward present invention utilizes crank, realize driving and locking of the crank and rocker mechanism to hatchcover
Between do not interfere with each other.Novel design, structure is simple, and effectively solve existing product can not achieve prevent the technology artificially opened lack
It falls into, the article of user is also avoided to lose to a certain degree.
Detailed description of the invention
Specific embodiments of the present invention will be described in further detail with reference to the accompanying drawing, in which:
Fig. 1 is the stereoscopic schematic diagram when crank of article cabin headstock gear of the invention is located at first position；
Fig. 2 is that the crank of article cabin headstock gear of the invention shows from the solid that first position forward direction is rocked to the second position
It is intended to；
Fig. 3 is the portion the A partial enlarged view of article cabin headstock gear of the invention；
Fig. 4 is the stereoscopic schematic diagram when crank of article cabin headstock gear of the invention is located at the second position；
Fig. 5 is the side schematic view that hatchcover of the invention opens article cabin opening；
Fig. 6 is the assembling schematic diagram of article cabin headstock gear of the invention；
Fig. 7 is the structural schematic diagram of crank of the invention；
Fig. 8 is the structural schematic diagram of rocking bar of the invention；
Fig. 9 is crank and connecting rod not conllinear side schematic view when crank of the invention is located at first position；
Figure 10 is the portion B partial enlargement diagram of the invention；
Figure 11 is the scheme of installation of limit assembly of the invention；
Side schematic view when Figure 12 is artificial unlatching hatchcover of the invention；
The side schematic view of crank when Figure 13 is artificial unlatching hatchcover of the invention from first position backswing；
Figure 14 is the portion C partial enlargement diagram of the invention；
In figure:
10- crank and rocker mechanism；
11- crank, 111- crank axle, 112- interconnecting piece, the articulated section 113-；
12- connecting rod, 121- stock, 122- spherical plain bearing rod end
13- rocking bar, 131- mounting plane, the first convergence part 132-, the second convergence part 133-；
20- actuator；
30- limit assembly；
31- mounting base, 32- locating part, 321- hook portion；
40- hatchcover；
50- article cabin.
Specific embodiment
Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, it should be understood that preferred reality described herein
Apply example only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention.
Embodiment 1
It is a kind of preferred knot for the article cabin headstock gear for preventing from opening by mistake of the present invention as shown in Fig. 1~Figure 14
Structure.
As shown in fig. 6, described prevent the article cabin headstock gear opened by mistake from including crank and rocker mechanism 10, actuator 20 and limiting
Hyte part 30.The actuator 20 is drivingly connected with crank and rocker mechanism 10；The crank and rocker mechanism 10 and article cabin 50
Hatchcover 40 connects and hatchcover 40 is driven to act；The limit assembly 30 after preventing hatchcover 40 to be closed for artificially being opened.
Article cabin headstock gear of the invention can be applied in service robot, keep the hatchcover in the article cabin of robot real
Existing automatic open close；Simultaneously by limit assembly, artificially opened after preventing hatchcover to be closed.
As shown in Figure 1, the crank and rocker mechanism 10 includes crank 11, connecting rod 12 and rocking bar 13.
In the present embodiment, the crank 11 is driving link, and the crank 11 is connect with actuator 20, and actuator 20 can drive
Dynamic crank 11 rotates.The connecting rod 12 is for being connected crank 11 and rocking bar 13.The rocking bar 13 is driven member, the rocking bar 13 with
Hatchcover 40 is fixedly connected, and rocking bar 13 is swung within the scope of certain angle, to drive hatchcover 40 to make closure or openness movement.
According to the transmission principle of crank and rocker mechanism it is found that the rotation of crank is so that rocking bar is past when crank is driving link
The opening and closing of hatchcover is realized in the swing returned；Meanwhile but also this article cabin headstock gear can be applied to hatchcover flat-open type open,
Upper outstanding or lower outstanding unlatching, top flip unlatching etc., it is versatile.
Preferably, it is 0~100 ° that rocking bar 13 drives the swing angle of hatchcover 40 to the present invention.The angular range makes hatchcover 40
Too big space will not be occupied in opening process and after opening, and opening angle picks and places article convenient for user.
Further, actuator 20 of the invention is for driving crank 11 to swing, and crank 11 is without rotation repeatedly.Tool
Body, the actuator 20 drives the crank 11 so that crank 11 from first position forward direction be rocked to the second position and from
The second position swings go back to first position.
As shown in Fig. 1 and Fig. 9, stereoscopic schematic diagram when first position is in for crank 11.When crank 11 is located at first
When position, crank and rocker mechanism 10 makes the closure of hatchcover 40 to cover the opening in article cabin 50.
As shown in figure 4, it is stereoscopic schematic diagram when crank 11 is in the second position.When crank 11 is located at the second position
When, hatchcover 40 opens the opening in article cabin 50.
Continuous switching of the actuator 20 by driving crank 11 in first position and the second position, to realize hatchcover 40
Automatic open close.The principle of start-stop of 11 rocking bar of crank, 13 structure of the invention is that those skilled in the art is knowable, is being saved
Slightly illustrate.
The limit assembly 30 that the present invention adds, is adjacent to the side of crank and rocker mechanism 10, limits crank by it and shakes
The movement of linkage 10, to realize the locking to hatchcover 40, the principle is as follows:
According to the principle of crank and rocker mechanism 10 it is found that the swing of rocking bar 13 will drive company when rocking bar 13 is driving link
The movement of bar 12, connecting rod 12 drive crank 11 to rotate.For this purpose, hatchcover 40 is in the closure state, when being used to open the outer of hatchcover 40
Power is applied to hatchcover 40, is equivalent to the movement of 13 stress of rocking bar, external force, which is converted by crank and rocker mechanism 10, rotates crank 11
Active force.
Firstly, the present invention improves the movement tendency of crank 11, and when crank 11 is located at first position, the effect
Power acts on crank 11, and crank 11 can be produced from the movement tendency of first position backswing, rather than toward the second position
Forward direction is swung.
Secondly, limit assembly 30 is adjacent to the side of crank and rocker mechanism 10 by the present invention, and supported by limit assembly 30
Push up crank and rocker mechanism 10；On the direction of transfer of power, crank and rocker mechanism 10 is by supporting limit assembly 30, by active force
It offsets, to lock the mass motion of crank and rocker mechanism 10, and then realizes the locking to hatchcover 40.Specifically, limit assembly 30
It can be by supporting crank 11 or connecting rod 12, to realize that the movement to crank and rocker mechanism 10 limits.
As shown in Figure 10, the limit assembly 30 can be a bumping post, baffle or block, be also possible to service robot
Inner wall.The present invention does not limit.
As shown in figure 9, the present invention makes following setting, works as song in order to realize that the movement tendency to crank 11 improves
When handle 11 is located at first position, the crank 11 is not arranged collinearly with connecting rod 12, can realize the reversed of above-mentioned crank 11 easily
It swings.Based on guidance of the invention, how to promote the setting of 11 backswing of crank, is that those skilled in the art can realize
, and achieved have the technical effect that those skilled in the art was anticipated that.
By above-mentioned design, crank 11 opening and closing hatchcover movement (from first position forward direction be rocked to the second position and from
The second position swings go back to first position) and prevent from opening by mistake movement (from first position backswing), between two movements mutually not
Interference.It using the kinetic characteristic of crank and rocker mechanism 10, improves, overall plan is simple, realizes and is easy.
On the other hand, when crank 11 is located at first position, crank 11 is not arranged collinearly with connecting rod 22, avoids crank with this
The dead-centre position of rocker device.When maintenance personnel needs artificially to open hatchcover by external force, if hatchcover is in closed state, outside
Power acts on hatchcover, and hatchcover will drive rocking bar swing, and then rocking bar will become driving link, and crank becomes driven member.If crank
It is conllinear with connecting rod, that is, it is in the dead-centre position of crank and rocker mechanism, there are problems that hatchcover can not be opened.And crank and connecting rod are not
The conllinear then very good solution problem is convenient for Inspection and maintenance.
It should be noted that the present invention and when only unlimited settled crank 11 is located at first position, crank 11 and connecting rod 12 are not
The technical solution being collinearly arranged.For example, can realize the movement to crank 11 by auxiliary member when crank 11 is conllinear with connecting rod 12
The improvement of trend.Such as by a spring, one end of spring is fixed, other end connecting crank 11, when crank 11 is located at first position,
Spring, which applies one to crank 11, makes the additional force of 11 backswing of crank.
Further, the present invention provides two kinds of embodiments of the limit assembly 30:
The first, as shown in figure 9, the crank and rocker mechanism 10 is supported positioned at one when crank 11 is located at first position
The limit assembly 30 of side, the crank 11 can the angle of backswing be zero so that hatchcover 40 locks completely.
Second, as shown in figure 13, the limit assembly 30 and the spaced a distance setting of crank and rocker mechanism 10；The work
Firmly make crank 11 from first position backswing to the third place.When crank 11 is located at the third place, crank and rocker mechanism
10 support limit assembly 30 to offset active force, and the hatchcover 40 manifests the outs open in article cabin 50.
Specifically, the present invention will be described with a kind of preferred 11 rocking bar of crank, 13 structure for the present embodiment 1, specifically such as
Under:
As shown in fig. 7, the crank 11 includes crank axle 111, crank axle 111 is the plate body of prolate shape.
Wherein, one end of the crank axle 111 is the interconnecting piece 112 for crank 11 and actuator 20 to be sequentially connected,
Interconnecting piece 112 is the short cylindrical shape structure being laterally extended, the surface of the axis of interconnecting piece 112 perpendicular to crank axle 111.The song
The other end of arbor 111 is for by crank 11 and the hinged articulated section 113 of connecting rod 12, articulated section 113 to be two be laterally extended
Hold the short cylindrical shape structure of perforation, the surface of the axis of articulated section 113 perpendicular to crank axle 111.
Further, outwardly extending lug boss, the extending direction and hinge of lug boss are additionally provided on the articulated section 113
Socket part 113 is on the contrary, be located at two surfaces of crank axle 111.The outer interconnecting piece without leave 112 of the crank axle 111 is to hinged
Portion 113 is gradually reduced, and the path length of articulated section 113 is much smaller than interconnecting piece 112.
As shown in figure 8, the rocking bar 13 is a swing seat, the top of the swing seat has a mounting plane 131, the peace
Dress plane 131 is connect with the bottom of hatchcover 40.Swing seat is provided with first rank being laterally extended in the side of mounting plane 131
Socket part 132, first convergence part 132 are used for hinged with external component.Swing seat is provided with downwards in the lower section of mounting plane 131
Second convergence part 133 of protrusion, second convergence part 133 and connecting rod 12 are hinged.
As shown in figure 5, the connecting rod 12 includes a stock 121 and the rod end joint for being connected to 121 both ends of stock
Bearing 122.The spherical plain bearing rod end 122 is to be threadedly coupled with stock 121.A wherein rod end joint shaft for the connecting rod 12
122 are held, it is hinged by the articulated section 113 of a rotation axis and crank 11.Another spherical plain bearing rod end 122 of connecting rod 12 passes through another
Second convergence part 133 of rotation axis and rocking bar 13 is hinged.
As shown in figure 11, the actuator 20 includes fixing seat and the servo motor being connected in fixing seat, described to watch
Motor is taken with retarder.The actuator 20 is located at the lower section of hatchcover 40.The output shaft of the servo motor and crank 11
Interconnecting piece 112 connects.
Under original state, as shown in Fig. 1 and Fig. 9, crank 11 is located at first position, and hatchcover 40 is closed opening for article cabin 50
Mouthful；Crank 11 and connecting rod 12 be not conllinear at this time, when external force opens hatchcover 40, as shown in Figure 13 and Figure 14, crank 11 from first
Position backswing, crank 11 support limit assembly 30 to prevent from opening.
When hatchcover is normally opened, servo motor drives crank-swinging, and crank is put from first position to second position forward direction
Dynamic, hatchcover is gradually opened.Until hatchcover fully opens the opening in article cabin when crank reaches the second position.
The present invention also provides a kind of service robots, and which employs the above-mentioned article cabin headstock gears for preventing from opening by mistake.
Embodiment 2
A kind of article cabin headstock gear for preventing from opening by mistake described in the present embodiment 2, structure and working principle and embodiment 1
Described is similar.The difference is that the present embodiment 2 is to build on second of embodiment of limit assembly to realize.It is described
Limit assembly and the spaced a distance setting of crank and rocker mechanism；The active force makes crank from first position backswing to third
Position；When crank is located at the third place, crank and rocker mechanism supports limit assembly to offset active force, and the hatchcover is aobvious
Expose the outs open in article cabin.
By above-mentioned setting, hatchcover 40 can open a part, and crank and rocker mechanism 10 is also caused to there is centainly movable
Amplitude.As crank 11 can backswing certain angle, connecting rod 12 have certain amplitude of fluctuation.Utilize this design, service robot
Can be by sensor etc., such as detect the displacement of hatchcover 40, detect the backswing of crank 11.And then artificial open is carried out
Detection, and allow service robot make it is mobile hide or the movement of alarm, prevent user and continue artificial to open hatchcover 40.
As shown in figure 11, the limit assembly 30 includes mounting base 31 and locating part 32.The mounting base 31 can fix peace
In the rack of robot, the middle part of the locating part 32 and mounting base 31 are hinged, so that locating part 32 can be put around hinged place
Dynamic or rotation.
As shown in Fig. 6 and Figure 11, the top of the locating part 32 is hook portion 321, is in curved domes.Locating part 32
Bottom end is vacantly arranged.When crank 11 is located at first position, the hook portion 321 of locating part 32 is vacantly in the top of crank 11；Work as song
When 11 backswing of handle, crank 11 supports the hook portion 321 of locating part 32 and locating part 32 is driven to swing, until the bottom of locating part 32
Mounting base 31 or rack are supported in end, and 32 stress of locating part stops swinging, and crank 11 is stopped at the third place.
In the case where borrowing above structure, the detection detected to artificially opening can be better achieved in designer.Such as installing
Pressure sensor is set on seat, when crank handle turns locating part, pressure sensor in mounting base is supported in the bottom end of locating part, output
The detection signal artificially opened.
The present invention also provides a kind of service robots, and which employs the article cabin opening and closing dresses for preventing from opening by mistake of embodiment 2
It sets.
Embodiment 3
A kind of article cabin headstock gear for preventing from opening by mistake described in the present embodiment 3, structure and working principle and embodiment 1
Described is similar.The difference is that the present embodiment 3 is the Optimal improvements of actuator.
Wherein, the actuator further includes the control element connecting with servo motor.When crank is from first position to second
When position swings and swings from the second position to first position, the control element obtains the current value of servo motor, and sentences
Whether power-off flow valuve is greater than threshold values；If so, control servo motor reversion.
By this design, it can be achieved that the finger of article cabin headstock gear；Under well-known technique, servo motor normal rotation
When, if resistance increases suddenly, the electric current moment of servo motor increases.And by the current value of detection servo motor, to judge cabin
It covers during closure or openness, if having associated disorders object that hatchcover is prevented to act；If there is barrier, pass through control unit
It obtains current value and judges whether the current value is more than threshold values, if so, motor reversal is controlled whether, to realize the function of finger
Energy.
The present invention also provides a kind of service robots, and which employs the article cabin opening and closing dresses for preventing from opening by mistake of embodiment 3
It sets.A kind of other structures for placing the article cabin headstock gear, service robot that open by mistake of the present invention are referring to the prior art.
The above described is only a preferred embodiment of the present invention, be not intended to limit the present invention in any form, therefore
Without departing from the technical solutions of the present invention, according to the technical essence of the invention it is to the above embodiments it is any modification,
Equivalent variations and modification, all of which are still within the scope of the technical scheme of the invention.
Claims (10)
1. a kind of article cabin headstock gear for preventing from opening by mistake characterized by comprising
Crank and rocker mechanism comprising crank, connecting rod and the rocking bar being connect with hatchcover being connected；When crank is located at first
When position, rocking bar makes the opening in hatchcover closure article cabin；When crank is located at the second position, rocking bar makes hatchcover open opening for article cabin
Mouthful；
Actuator drives the crank, so that crank from first position forward direction is rocked to the second position and from the second position
First position is gone back in backswing；
Limit assembly is set to the side of crank and rocker mechanism；
Wherein, when the hatchcover of closure is by the external force for opening hatchcover, the external force is converted by crank and rocker mechanism makes crank certainly
The active force of first position backswing；The crank and rocker mechanism supports the limit assembly with negative function power, Jin Ersuo
Habitation lid.
2. the article cabin headstock gear according to claim 1 for preventing from opening by mistake, it is characterised in that:
When crank is located at first position, the crank is not arranged collinearly with connecting rod, drives crank from first convenient for active force
Set backswing.
3. the article cabin headstock gear according to claim 1 for preventing from opening by mistake, it is characterised in that:
The limit assembly is contacted with the crank or connecting rod to offset the active force.
4. the article cabin headstock gear according to claim 3 for preventing from opening by mistake, it is characterised in that:
When crank is located at first position, the crank and rocker mechanism supports the limit assembly positioned at side, the crank can
The angle of backswing is zero, so that hatchcover locks completely.
5. the article cabin headstock gear according to claim 3 for preventing from opening by mistake, it is characterised in that:
The limit assembly and the spaced a distance setting of crank and rocker mechanism；The active force puts crank reversely from first position
It moves to the third place；
When crank is located at the third place, crank and rocker mechanism supports limit assembly to offset active force, and the hatchcover is aobvious
Expose the outs open in article cabin.
6. the article cabin headstock gear according to claim 5 for preventing from opening by mistake, which is characterized in that the limit assembly packet
It includes:
Mounting base is fixedly installed on the side of crank；
Locating part, middle part is hinged with mounting base, so that locating part can have mercy on, the middle part of itself is swung；The top of the locating part is
The bottom end of hook portion, locating part is vacantly arranged；
Wherein, when crank is located at first position, the hook portion of locating part is vacantly in the top of crank；When crank is located at the third place
When, locating part locking can not be swung, and crank supports the hook portion of locating part to offset active force.
7. the article cabin headstock gear according to claim 6 for preventing from opening by mistake, it is characterised in that:
The crank includes crank axle, and one end of the crank axle is the interconnecting piece for crank and actuator to be sequentially connected, bent
The other end of arbor is for by crank and the hinged articulated section of connecting rod；
Outwardly extending lug boss is additionally provided on the articulated section, the lug boss is used to support the hook portion of locating part.
8. the article cabin headstock gear according to claim 1 for preventing from opening by mistake, it is characterised in that:
The actuator includes servo motor and control element interconnected；The output shaft of servo motor is drivingly connected the song
Handle；
When crank is swung from first position to the second position or is swung from the second position to first position, the control member
Part obtains the current value of servo motor, and judges whether current value is greater than threshold values；If so, control servo motor reversion.
9. the article cabin headstock gear according to claim 1 for preventing from opening by mistake, it is characterised in that:
The rocking bar is fixedly connected with hatchcover, and rocking bar drives hatchcover to swing, and the swing angle of the hatchcover is 0~100 °.
10. a kind of service robot, which is characterized in that including preventing the article opened by mistake described in claim 1 to 8 any one
Cabin headstock gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910855128.9A CN110509296B (en) | 2019-09-10 | 2019-09-10 | Article cabin opening and closing device capable of preventing false opening and service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910855128.9A CN110509296B (en) | 2019-09-10 | 2019-09-10 | Article cabin opening and closing device capable of preventing false opening and service robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110509296A true CN110509296A (en) | 2019-11-29 |
| CN110509296B CN110509296B (en) | 2023-02-07 |
Family
ID=68630511
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910855128.9A Active CN110509296B (en) | 2019-09-10 | 2019-09-10 | Article cabin opening and closing device capable of preventing false opening and service robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110509296B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023103857A1 (en) * | 2021-12-08 | 2023-06-15 | 北京有竹居网络技术有限公司 | Robot |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10127796A (en) * | 1996-10-31 | 1998-05-19 | Kadowaki Shiyoubou Setsubi Kk | Refuge hatch in construction structure |
| JP2004346706A (en) * | 2003-05-26 | 2004-12-09 | Asmo Co Ltd | Door opening/closing device for vehicle |
| CN2666850Y (en) * | 2004-01-14 | 2004-12-29 | 刘天龙 | Easyly opening and closing refuse can |
| CN201677813U (en) * | 2010-03-31 | 2010-12-22 | 奇瑞汽车股份有限公司 | Automatic open/close device for trunk |
| CN105108756A (en) * | 2015-09-07 | 2015-12-02 | 上海人智信息科技有限公司 | Intelligent robot used in hotel or at dining place |
| CN205576795U (en) * | 2016-04-25 | 2016-09-14 | 北京中成科信科技发展有限公司 | Automatic gate swinging movement |
| EP3095649A1 (en) * | 2015-05-19 | 2016-11-23 | Valeo Systèmes d'Essuyage | Windscreen wiper motor unit and manufacturing method |
| CN205857932U (en) * | 2016-06-27 | 2017-01-04 | 李桂文 | A kind of Anti-theft door and window locking driver |
| CN107720065A (en) * | 2017-09-15 | 2018-02-23 | 上海有个机器人有限公司 | A kind of robot storage arrangement |
| KR20190003118A (en) * | 2017-06-30 | 2019-01-09 | 엘지전자 주식회사 | Robot system including Mobile robot and Moving terminal |
| CN109703764A (en) * | 2019-01-14 | 2019-05-03 | 杭州牧星科技有限公司 | A kind of electric open device of umbrella hatchcover |
| CN109733764A (en) * | 2019-02-01 | 2019-05-10 | 北京信息科技大学 | A kind of Combined garbage recycling bins |
-
2019
- 2019-09-10 CN CN201910855128.9A patent/CN110509296B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10127796A (en) * | 1996-10-31 | 1998-05-19 | Kadowaki Shiyoubou Setsubi Kk | Refuge hatch in construction structure |
| JP2004346706A (en) * | 2003-05-26 | 2004-12-09 | Asmo Co Ltd | Door opening/closing device for vehicle |
| CN2666850Y (en) * | 2004-01-14 | 2004-12-29 | 刘天龙 | Easyly opening and closing refuse can |
| CN201677813U (en) * | 2010-03-31 | 2010-12-22 | 奇瑞汽车股份有限公司 | Automatic open/close device for trunk |
| EP3095649A1 (en) * | 2015-05-19 | 2016-11-23 | Valeo Systèmes d'Essuyage | Windscreen wiper motor unit and manufacturing method |
| CN105108756A (en) * | 2015-09-07 | 2015-12-02 | 上海人智信息科技有限公司 | Intelligent robot used in hotel or at dining place |
| CN205576795U (en) * | 2016-04-25 | 2016-09-14 | 北京中成科信科技发展有限公司 | Automatic gate swinging movement |
| CN205857932U (en) * | 2016-06-27 | 2017-01-04 | 李桂文 | A kind of Anti-theft door and window locking driver |
| KR20190003118A (en) * | 2017-06-30 | 2019-01-09 | 엘지전자 주식회사 | Robot system including Mobile robot and Moving terminal |
| CN107720065A (en) * | 2017-09-15 | 2018-02-23 | 上海有个机器人有限公司 | A kind of robot storage arrangement |
| CN109703764A (en) * | 2019-01-14 | 2019-05-03 | 杭州牧星科技有限公司 | A kind of electric open device of umbrella hatchcover |
| CN109733764A (en) * | 2019-02-01 | 2019-05-10 | 北京信息科技大学 | A kind of Combined garbage recycling bins |
Non-Patent Citations (1)
| Title |
|---|
| 王志敏等: "智能型家庭服务机器人的设计与实现", 《科技创新与应用》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023103857A1 (en) * | 2021-12-08 | 2023-06-15 | 北京有竹居网络技术有限公司 | Robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110509296B (en) | 2023-02-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110509296A (en) | A kind of article cabin headstock gear, service robot for preventing from opening by mistake | |
| CN205499321U (en) | Inside and outside coordinated type cabin door lock mechanism | |
| CN207943100U (en) | A kind of Bionic flexible pawl thorn is to grabbing sufficient constructed machine people | |
| CN211342368U (en) | Bent arm shaft driving mechanism and cabin door electric opening and closing mechanism | |
| CN102040100A (en) | Working station for transaction system, and working method and material loading and unloading methods thereof | |
| CN210879670U (en) | Opening and closing driving device of hatch cover, storage device and service robot | |
| CN215738668U (en) | Unmanned aerial vehicle for cleaning | |
| CN208496978U (en) | Six axis parallel institutions and robot | |
| CN110576448A (en) | Intelligent service robot | |
| CN212601848U (en) | Service robot | |
| CN111645086B (en) | Service robot | |
| CN109848969A (en) | A kind of decoupling three-rotation freedom parallel mechanism for virtual axis machine and robot | |
| CN209463927U (en) | The top cover opening-closing structure of sweeping robot | |
| US4474348A (en) | Cantilever spring counterbalance hinge assembly for aircraft doors | |
| CN209195182U (en) | A kind of door handle | |
| CN110952861A (en) | Wall cabinet door-turning mechanism and wall cabinet | |
| EP0858767A1 (en) | Device for hinging a door, in particular a dishwasher door, to a fixed structure | |
| CN208759607U (en) | The small armed lever of robot | |
| CN214772850U (en) | Arc-shaped limiting block structure of cabin door of aerated concrete plate steam curing cabin | |
| CN211923897U (en) | Wall cabinet door-turning mechanism and wall cabinet | |
| CN111042697A (en) | Electricity changing cabinet and automatic door | |
| CN213136770U (en) | Robot | |
| CN110039570A (en) | A kind of composite balls hinge | |
| CN204457240U (en) | A kind of beating door self-locking transmission mechanism | |
| CN217028497U (en) | Positioning mechanism, door knob and door knob combination |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| REG | Reference to a national code |
Ref country code: HK Ref legal event code: DE Ref document number: 40019324 Country of ref document: HK |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240621 Address after: 2nd floor, 266-270 Texaco Road, Tsuen Wan, New Territories, Hong Kong, China Patentee after: Rice and vegetable roll Robot (Hong Kong) Co.,Ltd. Country or region after: Hong-Kong Address before: Block F, 15th Floor, Wing Kang Industrial Building, 18-26 Kwai Fung Street, Kwai Chung, New Territories, Hong Kong, China Patentee before: Rice ball robot Co.,Ltd. Country or region before: Hong-Kong |