CN110509296B

CN110509296B - Article cabin opening and closing device capable of preventing false opening and service robot

Info

Publication number: CN110509296B
Application number: CN201910855128.9A
Authority: CN
Inventors: 李国康
Original assignee: Rice Ball Robot Co ltd
Current assignee: Rice and vegetable roll Robot (Hong Kong) Co.,Ltd.
Priority date: 2019-09-10
Filing date: 2019-09-10
Publication date: 2023-02-07
Anticipated expiration: 2039-09-10
Also published as: CN110509296A

Abstract

The invention discloses an article cabin opening and closing device for preventing false opening and a service robot, wherein the article cabin opening and closing device comprises a crank rocker mechanism, and when a crank is positioned at a first position, a cabin cover is closed to shield an opening of an article cabin; when the crank is located at the second position, the hatch cover opens the opening of the goods compartment; an actuator that drives the crank from the first position to the second position in a forward swing motion and from the second position back to the first position; the limiting component is arranged adjacent to one side of the crank rocker mechanism; when the closed hatch is subjected to external force for opening the hatch, the external force is converted into acting force for enabling the crank to reversely swing from the first position by the crank rocker mechanism; the crank rocker mechanism abuts against the limiting assembly to counteract acting force, and then the cabin cover is locked. The invention drives the crank rocker mechanism to act through the actuator, and further drives the hatch cover to complete the opening and closing action; the crank rocker mechanism has small moment and noise, and is beneficial to prolonging the service life of the actuator.

Description

Article cabin opening and closing device capable of preventing false opening and service robot

Technical Field

The invention belongs to the technical field of intelligent robots, and particularly relates to an article cabin opening and closing device capable of preventing mistaken opening and a service robot.

Background

With the progress and development of society, the intelligent service robot gradually replaces part of artificial services. At present, the intelligent service robot is mainly applied to office buildings and hotels and mainly performs service work of voice conversation and indoor guidance. And the intelligent service robot at the present stage also has the capability of transporting articles to a designated place, such as food delivery, express delivery and the like.

In carrying out the present invention, the applicant has found that the existing products have at least the following problems:

due to the fact that personnel in office buildings and hotels are mobile and complicated, training for operating the intelligent service robot cannot be conducted on all the personnel. The intelligent service robot is also caused to be abnormally used in the process of transporting goods, and the hatch cover is opened intentionally or unintentionally; items may also be at risk of being taken away by non-owner personnel.

The hatch cover opening device of the existing intelligent service robot has the defect that the existing intelligent service robot is easily opened manually. For example, the application number 201520754287.7 in China discloses a gear mechanism door opening system, a vehicle, a robot, a warehousing device for a robot with the application number 201710832657.8, a cabin cover switch mechanism with the application number 201811649222.0 and the robot.

The intelligent service robot has the advantages that the transmission mechanism for driving the cabin cover to open and close is unreasonable in design, and the cabin door cannot be locked; on the other hand, the power source for driving the transmission mechanism is mostly a small motor, and the output shaft of the small motor after stalling cannot be effectively braked so as to lock the cabin door. The existing products are not good for preventing manual opening.

Disclosure of Invention

The invention aims to solve the technical problem that the existing service robot cannot prevent manual forced opening, and provides an article cabin opening and closing device and a service robot capable of preventing false opening.

In order to solve the problems, the invention is realized according to the following technical scheme:

the invention provides an article cabin opening and closing device for preventing false opening, which comprises:

the crank-rocker mechanism comprises a crank, a connecting rod and a rocker, wherein the crank and the rocker are connected, and the rocker is connected with the hatch cover; when the crank is located at the first position, the rocker enables the hatch cover to close the opening of the goods compartment; when the crank is located at the second position, the rocker enables the hatch cover to open the opening of the goods compartment;

an actuator that drives the crank to swing the crank from the first position to the second position and from the second position back to the first position;

the limiting assembly is arranged on one side of the crank rocker mechanism;

when the closed hatch is subjected to external force for opening the hatch, the external force is converted into acting force for enabling the crank to reversely swing from the first position by the crank rocker mechanism; the crank rocker mechanism abuts against the limiting assembly to counteract acting force, and then the cabin cover is locked.

Preferably, when the crank is in the first position, the crank and the connecting rod are arranged in a non-collinear manner, so that the crank is driven to swing reversely from the first position by the acting force.

Preferably, the stop assembly is in contact with the crank or connecting rod to counteract the force.

Preferably, when the crank is located at the first position, the crank-rocker mechanism abuts against the limiting component located at one side, and the angle of the crank capable of swinging reversely is zero, so that the hatch cover is completely locked.

Preferably, the limiting component is arranged at a distance from the crank and rocker mechanism; the acting force enables the crank to reversely swing from the first position to the third position;

when the crank is located at the third position, the crank rocker mechanism abuts against the limiting assembly to offset the acting force, and the hatch covers expose partial openings of the goods compartment.

Preferably, the spacing assembly includes:

the mounting seat is fixedly arranged on one side of the crank;

the middle part of the limiting piece is hinged with the mounting base, so that the limiting piece can swing around the middle part of the limiting piece; the top end of the limiting piece is a hook part, and the bottom end of the limiting piece is arranged in a suspended manner;

when the crank is located at the first position, the hook part of the limiting piece is suspended above the crank; when the crank is located at the third position, the limiting piece is locked and cannot swing, and the crank abuts against the hook portion of the limiting piece to offset acting force.

Preferably, the crank comprises a crank shaft, one end of the crank shaft is a connecting part for connecting the crank with the actuator in a transmission way, and the other end of the crank shaft is a hinge part for hinging the crank with the connecting rod;

the hinge part is also provided with a bulge extending outwards, and the bulge is used for abutting against the hook part of the limiting part.

Preferably, the actuator comprises a servo motor and a control element connected to each other; an output shaft of the servo motor is in driving connection with the crank;

when the crank swings from the first position to the second position or swings from the second position to the first position, the control element acquires the current value of the servo motor and judges whether the current value is greater than a threshold value; if yes, the servo motor is controlled to rotate reversely.

Preferably, the rocker is fixedly connected with the hatch cover, the rocker drives the hatch cover to swing, and the swing angle of the hatch cover is 0-100 degrees.

The invention also provides a service robot which comprises the article cabin opening and closing device for preventing the article cabin from being opened by mistake.

Compared with the prior art, the invention has the beneficial effects that:

1. the invention drives the crank rocker mechanism to act through the actuator, and further drives the hatch cover to finish opening and closing actions; the crank rocker mechanism has small moment and low noise, and is beneficial to prolonging the service life of the actuator. Meanwhile, compared with the existing product, the transmission structure and the transmission mode of the invention are simpler, and even if the cabin cover is forcedly opened to damage the transmission structure, the maintenance and the replacement are easy, and the maintenance cost is reduced.

2. According to the invention, through the motion characteristics and the structural principle of the crank-rocker mechanism, when the rocker is converted from the driven part to the driving part, the action of the crank-rocker mechanism is limited through the additionally arranged limiting component, so that the rocker is locked, and the cabin cover cannot be opened. Meanwhile, the invention utilizes the forward rotation and the reverse rotation of the crank to realize that the driving and the locking of the crank rocker mechanism to the hatch cover are not interfered with each other. The novel design, simple structure, and effectively solve current product and can not realize preventing the technical defect of artificially opening, the article of certain degree also avoids the user to lose.

Drawings

Embodiments of the invention are described in further detail below with reference to the attached drawing figures, wherein:

FIG. 1 is a schematic perspective view of the device for opening and closing a cargo compartment according to the present invention with the crank in a first position;

FIG. 2 is a schematic perspective view of the positive swinging of the crank of the article compartment opening and closing device of the present invention from a first position to a second position;

FIG. 3 is an enlarged view of part A of the opening and closing device for the cargo compartment according to the present invention;

FIG. 4 is a schematic perspective view of the device for opening and closing the article compartment according to the present invention with the crank in the second position;

FIG. 5 is a side schematic view of the hatch of the present invention opening the opening of the product compartment;

FIG. 6 is an assembled view of the article compartment opening and closing device of the present invention;

FIG. 7 is a schematic view of the crank of the present invention;

FIG. 8 is a schematic structural view of the rocker of the present invention;

FIG. 9 is a side schematic view of the crank of the present invention in a first position wherein the crank is not collinear with the connecting rod;

FIG. 10 is an enlarged view of part B of the present invention;

FIG. 11 is a schematic view of the installation of the spacing assembly of the present invention;

FIG. 12 is a side schematic view of the present invention with the hatch manually opened;

FIG. 13 is a side schematic view of the reverse swinging motion of the crank from the first position upon manual opening of the hatch of the present invention;

FIG. 14 is an enlarged partial view of part C of the present invention;

in the figure:

10-crank rocker mechanism;

11-crank, 111-crank shaft, 112-connecting part, 113-hinge;

12-connecting rod, 121-long rod and 122-rod end joint bearing

13-rocker, 131-mounting plane, 132-first engagement portion, 133-second engagement portion;

20-an actuator;

30-a spacing assembly;

31-an installation seat, 32-a limiting piece and 321-a hook part;

40-a hatch;

50-article compartment.

Detailed Description

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.

Example 1

As shown in fig. 1 to 14, it is a preferred structure of the device for opening and closing an article compartment for preventing erroneous opening according to the present invention.

As shown in fig. 6, the article compartment opening and closing device for preventing the false opening includes a crank and rocker mechanism 10, an actuator 20 and a limiting assembly 30. The actuator 20 is in driving connection with the crank and rocker mechanism 10; the crank rocker mechanism 10 is connected with the hatch cover 40 of the article cabin 50 and drives the hatch cover 40 to move; the limiting assembly 30 is used for preventing the hatch cover 40 from being opened manually after being closed.

The article cabin opening and closing device can be applied to a service robot, so that the automatic opening and closing of the cabin cover of the article cabin of the robot can be realized; meanwhile, the hatch cover is prevented from being manually opened after being closed through the limiting assembly.

As shown in fig. 1, the crank and rocker mechanism 10 includes a crank 11, a connecting rod 12, and a rocker 13.

In this embodiment, the crank 11 is an active member, the crank 11 is connected to an actuator 20, and the actuator 20 can drive the crank 11 to rotate. The connecting rod 12 is used for connecting the crank 11 and the rocker 13. The rocker 13 is a driven member, the rocker 13 is fixedly connected with the hatch 40, and the rocker 13 swings within a certain angle range to drive the hatch 40 to open or close.

According to the transmission principle of the crank rocker mechanism, when the crank is a driving part, the rotation of the crank enables the rocker to swing back and forth to realize the opening and closing of the hatch cover; meanwhile, the opening and closing device for the object cabin can be applied to the side-hung opening, top-hung or bottom-hung opening, top-turnover opening and the like of the cabin cover, and has strong universality.

The invention preferably has the rocker 13 driving the hatch 40 to swing through an angle of 0 to 100 °. This range of angles allows the hatch 40 to be opened without taking up too much space during and after opening, and the opening angle facilitates the user to access the items.

Further, the actuator 20 of the present invention is used to drive the crank 11 to oscillate without the crank 11 performing repeated rotations. Specifically, the actuator 20 drives the crank 11 to swing the crank 11 positively from the first position to the second position and back from the second position to the first position.

As shown in fig. 1 and 9, which are perspective views of the crank 11 in the first position. When the crank 11 is in the first position, the crank and rocker mechanism 10 closes the hatch 40 to conceal the opening of the article compartment 50.

As shown in fig. 4, which is a perspective view of the crank 11 in the second position. When the crank 11 is in the second position, the hatch 40 opens the opening of the goods compartment 50.

The actuator 20 continuously switches between the first position and the second position by driving the crank 11 to realize the automatic opening and closing of the hatch 40. The principle of opening and closing the structure of the rocker 13 of the crank 11 of the present invention is known to those skilled in the art, and the description thereof will be omitted.

The limit component 30 is arranged at one side of the crank rocker mechanism 10, and the action of the crank rocker mechanism 10 is limited by the limit component to lock the hatch cover 40, and the principle is as follows:

according to the principle of the crank-rocker mechanism 10, when the rocker 13 is an active component, the rocking of the rocker 13 drives the connecting rod 12 to move, and the connecting rod 12 drives the crank 11 to rotate. For this reason, when an external force for opening the hatch 40 is applied to the hatch 40 in the closed state of the hatch 40, corresponding to the force applied to the rocker 13, the external force is converted by the crank and rocker mechanism 10 into a force for rotating the crank 11.

Firstly, the present invention improves the motion tendency of the crank 11, and when the crank 11 is located at the first position, the force acts on the crank 11, and the crank 11 will generate the motion tendency of swinging in the reverse direction from the first position, rather than swinging in the forward direction to the second position.

Secondly, the limiting component 30 is arranged at one side of the crank and rocker mechanism 10 in an adjacent mode, and abuts against the crank and rocker mechanism 10 through the limiting component 30; in the force transmission direction, the crank-rocker mechanism 10 counteracts the acting force by abutting against the limiting component 30, so as to lock the overall movement of the crank-rocker mechanism 10, and further realize the locking of the hatch 40. Specifically, the limiting component 30 can limit the movement of the crank-rocker mechanism 10 by abutting against the crank 11 or the connecting rod 12.

As shown in fig. 10, the position limiting component 30 may be a stop column, a baffle or a stopper, or may be an inner wall of the service robot. The invention is not limited.

In order to improve the motion tendency of the crank 11, as shown in fig. 9, the present invention provides that when the crank 11 is located at the first position, the crank 11 and the connecting rod 12 are not arranged in line, so that the above-mentioned reverse swing of the crank 11 can be easily realized. The arrangement of how to cause the crank 11 to oscillate in opposite directions is within the reach of the person skilled in the art, and the technical result achieved is predictable by the person skilled in the art, based on the teachings of the present invention.

Through the design, the actions of opening and closing the hatch cover (swinging forward from the first position to the second position and swinging back from the second position to the first position) and the actions of preventing false opening (swinging backward from the first position) of the crank 11 are not interfered with each other. The motion characteristic of the crank rocker mechanism 10 is utilized for improvement, the whole scheme is simple, and the realization is easy.

On the other hand, when the crank 11 is in the first position, the crank 11 is not arranged in line with the connecting rod 22, thereby avoiding the dead point position of the crank-rocker mechanism. When maintenance personnel need to open the cabin cover manually through external force, if the cabin cover is in a closed state, the external force acts on the cabin cover, the cabin cover can drive the rocker to swing, the rocker can become a driving part, and the crank becomes a driven part. If the crank and the connecting rod are collinear, namely are positioned at the dead point position of the crank rocker mechanism, the hatch cover can not be opened. And the problem is well solved if the crank and the connecting rod are not collinear, and the inspection and maintenance are convenient.

It should be noted that the present invention is not limited to the technical solution in which the crank 11 and the connecting rod 12 are not arranged in line when the crank 11 is located at the first position. For example, when the crank 11 is collinear with the connecting rod 12, an improvement in the tendency of the crank 11 to move can be achieved by the auxiliary element. For example, when the crank 11 is located at the first position, the spring applies an additional force to the crank 11 to make the crank 11 swing in the opposite direction.

Further, the present invention provides two embodiments of the position limiting assembly 30:

first, as shown in fig. 9, when the crank 11 is located at the first position, the crank-rocker mechanism 10 abuts against the limiting component 30 located at one side, and the angle of the crank 11 that can swing in the reverse direction is zero, so that the hatch 40 is completely locked.

Secondly, as shown in fig. 13, the limiting component 30 is arranged at a distance from the crank-rocker mechanism 10; said force causes the crank 11 to swing in opposite directions from the first position to the third position. When the crank 11 is in the third position, the crank and rocker mechanism 10 abuts against the stop assembly 30 to counteract the force, and the hatch 40 reveals a partial opening of the product compartment 50.

In particular, the present embodiment 1 illustrates the present invention with a preferred structure of the crank 11 and the rocker 13, which is as follows:

as shown in fig. 7, the crank 11 includes a crank shaft 111, and the crank shaft 111 is a flat and long plate.

One end of the crank shaft 111 is a connecting part 112 for driving and connecting the crank 11 with the actuator 20, the connecting part 112 is a short cylindrical structure extending transversely, and the axis of the connecting part 112 is perpendicular to the surface of the crank shaft 111. The other end of the crankshaft 111 is a hinge portion 113 for hinging the crank 11 with the connecting rod 12, the hinge portion 113 is a short cylindrical structure with two transversely extending ends penetrating, and the axis of the hinge portion 113 is perpendicular to the surface of the crankshaft 111.

Further, the hinge portion 113 is further provided with a protrusion extending outward, and the protrusion extends in a direction opposite to the hinge portion 113 and is respectively located on two surfaces of the crank shaft 111. The outer diameter of the crank shaft 111 is gradually reduced from the connecting portion 112 to the hinge portion 113, and the length of the hinge portion 113 is much smaller than that of the connecting portion 112.

As shown in fig. 8, the rocker 13 is a swing seat, and the top of the swing seat has a mounting plane 131, and the mounting plane 131 is connected with the bottom of the hatch 40. The swing seat is provided with a first laterally extending engagement portion 132 at one side of the mounting plane 131, the first engagement portion 132 being adapted to be hinged to the external member. The swing seat is provided with a second coupling portion 133 protruding downward below the installation plane 131, and the second coupling portion 133 is hinged to the link 12.

As shown in fig. 5, the connecting rod 12 includes a long rod 121 and rod end joint bearings 122 respectively connected to both ends of the long rod 121. The rod end joint bearing 122 is in threaded connection with the long rod 121. One of the rod end joint bearings 122 of the connecting rod 12 is hinged to the hinge 113 of the crank 11 through a rotating shaft. The other rod end joint bearing 122 of the connecting rod 12 is hinged to the second link portion 133 of the rocking bar 13 through the other rotation shaft.

As shown in fig. 11, the actuator 20 includes a fixing base, and a servo motor connected to the fixing base, and the servo motor has a reducer. The actuator 20 is located below the hatch 40. The output shaft of the servo motor is connected to the connecting portion 112 of the crank 11.

In an initial state, as shown in fig. 1 and 9, the crank 11 is located at the first position, and the hatch 40 closes the opening of the article compartment 50; when the crank 11 and the connecting rod 12 are not collinear, and when the hatch 40 is opened by external force, as shown in fig. 13 and 14, the crank 11 swings reversely from the first position, and the crank 11 abuts against the limiting component 30 to prevent opening.

When the hatch cover is normally opened, the servo motor drives the crank to swing, the crank swings forwards from the first position to the second position, and the hatch cover is gradually opened. Until the crank reaches the second position, the hatch completely opens the opening of the goods compartment.

The invention also provides a service robot which adopts the article cabin opening and closing device for preventing the mistaken opening.

Example 2

The structure and the working principle of the opening and closing device for the article cabin for preventing the article cabin from being opened by mistake in the embodiment 2 are similar to those in the embodiment 1. The difference is that the embodiment 2 is realized by the second implementation mode of the limiting component. The limiting assembly and the crank rocker mechanism are arranged at a certain distance; the acting force enables the crank to reversely swing from the first position to the third position; when the crank is located at the third position, the crank rocker mechanism abuts against the limiting assembly to offset the acting force, and the hatch covers expose partial openings of the goods compartment.

With the above arrangement, the hatch 40 can open a portion, also resulting in a certain movable extent of the crank and rocker mechanism 10. For example, the crank 11 can swing reversely by a certain angle, and the connecting rod 12 has a certain swing amplitude. With this design, the service robot can detect displacement of the hatch 40, reverse swinging of the crank 11, and the like by means of sensors and the like. And further, the manual opening is detected, the service robot is enabled to move and avoid or give an alarm, and the user is prevented from continuing to manually open the hatch cover 40.

As shown in fig. 11, the limiting assembly 30 includes a mounting seat 31 and a limiting member 32. The mounting seat 31 can be fixedly mounted on a rack of the robot, and the middle part of the limiting piece 32 is hinged to the mounting seat 31, so that the limiting piece 32 can swing or rotate around the hinged position.

As shown in fig. 6 and 11, the top end of the stopper 32 is a hook 321 having a curved arch structure. The bottom end of the limiting member 32 is suspended. When the crank 11 is located at the first position, the hook 321 of the limiting member 32 is suspended above the crank 11; when the crank 11 swings reversely, the crank 11 abuts against the hook portion 321 of the limiting member 32 and drives the limiting member 32 to swing until the bottom end of the limiting member 32 abuts against the mounting base 31 or the rack, the limiting member 32 stops swinging under stress, and the crank 11 stops at the third position.

Under the condition of the structure, a designer can better realize the detection of the manual opening of the human body. If set up pressure sensor on the mount pad, when the crank drove the locating part, pressure sensor on the mount pad was supported to the bottom of locating part, the detection signal of artificial opening of output.

The invention also provides a service robot which adopts the article cabin opening and closing device for preventing the mistaken opening in the embodiment 2.

Example 3

The structure and the working principle of the opening and closing device for the article cabin for preventing the article cabin from being opened by mistake in the embodiment 3 are similar to those in the embodiment 1. The difference is that the present embodiment 3 is an optimized improvement of the actuator.

Wherein the actuator further comprises a control element connected to the servo motor. When the crank swings from the first position to the second position and swings from the second position to the first position, the control element acquires the current value of the servo motor and judges whether the current value is greater than a threshold value; if yes, the servo motor is controlled to rotate reversely.

Through the design, the hand clamping prevention of the opening and closing device of the goods cabin can be realized; in the prior art, when the servo motor normally rotates, if the resistance suddenly increases, the current of the servo motor increases instantly. Whether a related obstacle prevents the hatch cover from acting or not in the opening or closing process of the hatch cover is judged by detecting the current value of the servo motor; if the obstacle appears, the control unit acquires the current value and judges whether the current value exceeds the threshold value, and if so, the control unit controls whether the motor rotates reversely so as to realize the function of preventing the hands from being clamped.

The invention also provides a service robot, which adopts the article cabin opening and closing device for preventing the false opening in the embodiment 3. The invention relates to an opening and closing device for placing an article cabin which is opened by mistake and other structures of a service robot, which are referred to the prior art.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, so that any modification, equivalent change and modification made to the above embodiment according to the technical spirit of the present invention are within the scope of the technical solution of the present invention.

Claims

1. The utility model provides a prevent article cabin headstock gear of mistake opening for service robot, its characterized in that includes:

the crank rocker mechanism comprises a crank, a connecting rod and a rocker connected with the hatch cover, wherein the crank and the rocker are connected; when the crank is located at the first position, the rocker enables the hatch cover to close the opening of the goods compartment; when the crank is located at the second position, the rocker enables the hatch cover to open the opening of the goods compartment;

an actuator that drives the crank to swing the crank from the first position to the second position in a forward direction and from the second position back to the first position in a reverse direction;

the limiting component is arranged on one side of the crank and rocker mechanism, and the limiting component and the crank and rocker mechanism are arranged at a certain distance;

when the closed hatch is subjected to external force for opening the hatch, the external force is converted into acting force for enabling the crank to swing reversely from the first position by the crank rocker mechanism, and the acting force enables the crank to swing reversely from the first position to the third position; when the crank is located at the third position, the crank rocker mechanism abuts against the limiting assembly to counteract acting force, so that the hatch cover is locked, and a part of opening of the article cabin is exposed out of the hatch cover;

the limiting assembly is provided with a sensor for detecting the displacement of the hatch cover or detecting the reverse swing of the crank, and the sensor realizes the detection of manual opening so as to enable the service robot to move and avoid or give an alarm.

2. The device for opening and closing an article compartment for preventing erroneous opening according to claim 1, wherein:

when the crank is located at the first position, the crank and the connecting rod are arranged in a non-collinear manner, so that the crank is driven to reversely swing from the first position by acting force.

3. The device for opening and closing an article compartment for preventing erroneous opening according to claim 1, wherein:

the limiting component is in contact with the crank or the connecting rod to counteract the acting force.

4. The device for opening and closing an article compartment for preventing erroneous opening according to claim 3, wherein:

when the crank is located at the first position, the crank rocker mechanism abuts against the limiting component located on one side, and the angle of the crank which can swing reversely is zero, so that the hatch cover is completely locked.

5. The device for opening and closing an article compartment for preventing false opening of claim 1, wherein the limiting component comprises:

the mounting seat is fixedly arranged on one side of the crank;

6. The device for opening and closing an article compartment for preventing erroneous opening according to claim 5, wherein:

the crank comprises a crank shaft, one end of the crank shaft is a connecting part for connecting the crank with the actuator in a transmission way, and the other end of the crank shaft is a hinge part for hinging the crank with the connecting rod;

the hinge part is also provided with a bulge part extending outwards, and the bulge part is used for abutting against the hook part of the limiting part.

7. The device for opening and closing an article compartment for preventing erroneous opening according to claim 1, wherein:

the actuator comprises a servo motor and a control element which are connected with each other; an output shaft of the servo motor is in driving connection with the crank;

8. The device for opening and closing an article compartment for preventing erroneous opening according to claim 1, wherein:

the rocker is fixedly connected with the hatch cover, the rocker drives the hatch cover to swing, and the swing angle of the hatch cover is 0-100 degrees.

9. A service robot comprising the device for opening and closing an article chamber for preventing erroneous opening as claimed in any one of claims 1 to 8.