CN110512983A - Warehouse door control equipment and warehouse system - Google Patents
Warehouse door control equipment and warehouse system Download PDFInfo
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- CN110512983A CN110512983A CN201810488590.5A CN201810488590A CN110512983A CN 110512983 A CN110512983 A CN 110512983A CN 201810488590 A CN201810488590 A CN 201810488590A CN 110512983 A CN110512983 A CN 110512983A
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- door
- driven pulley
- spring
- wirerope
- power
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- 230000005540 biological transmission Effects 0.000 claims abstract description 32
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- 238000000034 method Methods 0.000 claims description 33
- 230000001105 regulatory effect Effects 0.000 claims description 12
- 238000004804 winding Methods 0.000 claims description 8
- 229910000831 Steel Inorganic materials 0.000 claims description 6
- 239000010959 steel Substances 0.000 claims description 6
- 230000001960 triggered effect Effects 0.000 claims description 6
- 230000001276 controlling effect Effects 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- 230000015572 biosynthetic process Effects 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 22
- 230000001360 synchronised effect Effects 0.000 abstract description 14
- 230000008569 process Effects 0.000 description 23
- 238000003860 storage Methods 0.000 description 20
- 238000010586 diagram Methods 0.000 description 10
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- 238000004590 computer program Methods 0.000 description 6
- 238000007789 sealing Methods 0.000 description 6
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- 238000005520 cutting process Methods 0.000 description 1
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- 239000004519 grease Substances 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/60—Power-operated mechanisms for wings using electrical actuators
- E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
- E05F15/632—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for horizontally-sliding wings
- E05F15/643—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for horizontally-sliding wings operated by flexible elongated pulling elements, e.g. belts, chains or cables
- E05F15/646—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for horizontally-sliding wings operated by flexible elongated pulling elements, e.g. belts, chains or cables allowing or involving a secondary movement of the wing, e.g. rotational or transversal
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2999/00—Subject-matter not otherwise provided for in this subclass
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- Power-Operated Mechanisms For Wings (AREA)
Abstract
The embodiment of the application provides a warehouse control equipment and warehouse system, wherein warehouse door control equipment be used for controlling two warehouse doors of relative setting, equipment includes: the two rotating devices are respectively connected with different bin doors in the two bin doors; the power device is used for providing power; and the transmission device is connected with the two rotating devices and the power device and is used for driving the two rotating devices to rotate in the constant speed and reverse directions according to the power provided by the power device, so that the two bin gates rotate in the constant speed and reverse directions. The embodiment of the application can be suitable for the goods warehouse with the special-shaped appearance such as a round appearance, an oval appearance and the like, and can realize the synchronous effect of two warehouse doors.
Description
Technical field
This application involves storage technique fields, control equipment and warehousing system more particularly to a kind of door.
Background technique
Storage refer to goods and materials are stored by warehouse, keeping and the movable general name of warehouse associated reservoir.Storage with
The generation of material storage and generate, and with the development of productivity.Storage is one of important link of commodity circulation,
It is also the mainstay of logistics activity.
Currently, the freight house for storage is provided with door, to pass through the opening and closing of the door, the loading of goods and materials is realized
And unloading.Also, for the freight house of common rectangular shape, at present usually in such a way that door moves horizontally, progress storehouse
The unlatching of door.
However, with the progress and development of human society, improvement of living standard, the growth of material requisite, business activity
Flourishing, various goods and materials storage also more frequently, the type of freight house is more and more, and there is cross sections in practical applications is
The freight house of the abnormity appearance such as circle, ellipse.Since the door of the freight house of above-mentioned special-shaped appearance generally requires arching trajectory, and storehouse
The mode that moves horizontally of door is mostly just capable of forming straight path, thus the mode that moves horizontally of above-mentioned door can not be suitable for it is upper
State the freight house of special-shaped appearance.
Summary of the invention
In view of the above problems, the embodiment of the present application provides a kind of door control equipment and a kind of warehousing system, can be applicable in
In the freight house of the special-shaped appearance such as circle, ellipse, and the synchronous effect of two doors may be implemented.
To solve the above-mentioned problems, the embodiment of the present application discloses a kind of door control equipment, is oppositely arranged for controlling
Two doors, the equipment includes:
Two rotating devices, are separately connected door different in described two doors；
Power device is used to provide power；And
Transmission device is connected with described two rotating devices and the power device, for mentioning according to the power device
The power of confession drives described two rotating device constant speed to reversely rotate, so that described two door constant speed reversely rotate.
The embodiment of the present application includes the following advantages:
The transmission device of the embodiment of the present application can drive rotating device to rotate, and above-mentioned door can be made to rotate, and be formed
Arching trajectory, therefore the goods for the special-shaped appearance such as can be adapted for door arching trajectory corresponding freight house, such as circle, ellipse
Storehouse.
Also, the transmission device of the embodiment of the present application drives two rotating device constant speed to reversely rotate, and can make above-mentioned
Two door constant speed reversely rotate, therefore the synchronous effect of above-mentioned two door may be implemented.
Detailed description of the invention
Fig. 1 is a kind of application drawing of the freight house of one embodiment of the application offer on robot chassis；
Fig. 2 is a kind of schematic perspective view for freight house that one embodiment of the application provides；
Fig. 3 is a kind of schematic perspective view for freight house that one embodiment of the application provides；
Fig. 4 is a kind of schematic perspective view for freight house that one embodiment of the application provides；
Fig. 5 is a kind of schematic perspective view for freight house that one embodiment of the application provides；
Fig. 6 is a kind of schematic perspective view for freight house that one embodiment of the application provides；
Fig. 7 A is a kind of structural schematic diagram of the freight house that provides of one embodiment of the application under the open state of door；
Fig. 7 B is a kind of structural schematic diagram of the freight house that provides of one embodiment of the application under the off status of door；
Fig. 8 A, Fig. 8 B, Fig. 8 C and Fig. 8 D, the position signal of door respectively provided by the embodiments of the present application；
Fig. 9 A, Fig. 9 B, Fig. 9 C and Fig. 9 D, the position signal of rotating arm respectively provided by the embodiments of the present application；
In figure, a, b, c, d, e, f, g, h-hinge；The first door of 1-；The second door of 2-；3- trim；4- rib；5- goods
Chamber structure；The end 6- hinged seat；7- push-rod electric machine；8- constant speed reversely rotates device；The second rotating arm of 9-；10- first rotating arm；
The first driving lever of 11-；The left wirerope regulating part of 12-；13- cushion collar；14- pulley connector；15- third pulley；16- shields device；
The left wirerope of 17-；The left pin shaft of 18-；The 4th pulley of 19-；20- the first door bolt axis；The left wirerope compressing member of 21-；First company of 22-
Bar；23- the second door bolt axis；First connector of 24-；The first spring fastenings of 25-；The first spring of 26-；27- second spring connects
Fitting；28- cushion collar；29- third door bolt axis；Second connecting rod of 30-；Second connector of 31-；The 4th door bolt axis of 32-；33-
Second driving lever；The right wirerope regulating part of 34-；The 5th pulley of 35-；The right wirerope of 36-；The 6th pulley of 37-；The right pin shaft of 38-；39-
5th door bolt axis；The right wirerope compressing member of 40-；The 6th door bolt axis of 41-；42- third door connecting rod；43- third door connector；44-
Third spring fastenings；45- second spring；The 4th spring fastenings of 46-；The 7th door bolt axis of 47-；The 8th door bolt axis of 48-；49-
4th connecting rod；The 4th connector of 50-；51- steel ball idler wheel；52- motor pin shaft；53- motor contact；54- door open limit
Switch；55- frizzen；56- shutdown limit switch.
Specific embodiment
In order to make the above objects, features, and advantages of the present application more apparent, with reference to the accompanying drawing and it is specific real
Applying mode, the present application will be further described in detail.
The embodiment of the present application provides a kind of door control equipment, which is used to control two doors being oppositely arranged,
The equipment specifically includes:
Two rotating devices, are separately connected door different in described two doors；
Power device is used to provide power；And
Transmission device is connected with described two rotating devices and the power device, for mentioning according to the power device
The power of confession drives described two rotating device constant speed to reversely rotate, so that described two door constant speed reversely rotate.
The embodiment of the present application can be applied in storage scene, in the storage scene cross section of freight house can for it is round,
Oval, even irregular circular arc etc., therefore the door of above-mentioned freight house generally requires arching trajectory.And the biography of the embodiment of the present application
Dynamic device can drive rotating device to rotate, and above-mentioned door can be made to rotate, and form arching trajectory, therefore can be adapted for storehouse
The freight house of the special-shaped appearance such as door arching trajectory corresponding freight house, such as circle, ellipse.
The freight house of the embodiment of the present application may include: two doors being oppositely arranged.Two doors can be respectively provided with
On-state and off-state, wherein for any door, the process from open state to off status is properly termed as closing the door
Journey, the process from off status to open state are properly termed as door opening process.Two doors simultaneously be in door closing procedure or
In the case where door opening process, which can execute reverse rotation motion.And the transmission device of the embodiment of the present application drives
Two rotating device constant speed reversely rotate, and above-mentioned two door constant speed can be made to reversely rotate, therefore may be implemented above-mentioned two
The synchronous effect (synchronous closing effect or synchronous open door effect) of a door.
It is appreciated that two doors being oppositely arranged in the embodiment of the present application can be equal to a door pair, field of storing in a warehouse
Freight house in scape may include: one or more door pair.For example, the freight house of semiellipsoid shape is provided in the first side
One door is provided with the second door equity to and second side, wherein the first side and second side are oppositely arranged.It is appreciated that
Those skilled in the art can determine the structure of door according to practical application request, for example, can be set suitable with phase outside freight house
The door matched, the embodiment of the present application for the quantity of door pair included by freight house, door in freight house specific location and
The specific structure of door is without restriction.
The power device of the embodiment of the present application, is used to provide power.Above-mentioned power device may include: motor, motor etc..
In a kind of alternative embodiment of the application, above-mentioned power device can be push-rod electric machine, and push-rod electric machine is a kind of by motor
Rotary motion be changed into push rod straight reciprocating motion power-driven gear, it will be understood that the embodiment of the present application for tool
The power device of body is without restriction.
Optionally, the tail portion hinge of above-mentioned power device may be mounted on the hinged seat of end, and the end hinged seat can
On the freight house that is mounted on where the door；The head of the power device can be hinged on the connection of the power device
On part.Wherein, hinge is hinge or the link position of devices arms in mechanical equipment, can play the role of joint.At hinge
Usually adjacent parts are connected with a pin shaft, make to rotate between part around hinge.
The transmission device of the embodiment of the present application, for transmitting power to rotating device.The transmission that above-mentioned transmission device uses
Mode may include: V belt translation, gear drive, pulley drive, chain conveyer, worm-drive, screw drive etc., it will be understood that this
Apply for that embodiment is without restriction for the specific kind of drive.
Two rotating devices of the embodiment of the present application, are separately connected door different in above-mentioned two door, above-mentioned
Constant speed reversely rotates under the drive of transmission device, so that above-mentioned two door constant speed reversely rotates.Above-mentioned rotating device can
Think there is rotation function, the embodiment of the present application is without restriction for specific rotating device.
In a kind of alternative embodiment of the application, the transmission device may include: that the first driven pulley and second pass
Movable pulley；First driven pulley and second driven pulley are coaxially disposed and diameter is identical, to realize that described first passes
The constant speed of movable pulley and second driven pulley reversely rotates, that is, first driven pulley and second transmission are slided
Wheel can export the reversed rotary power of constant speed；In first driven pulley and second driven pulley it is any with it is described
Power device is connected, to receive the power of the power device；
Correspondingly, the rotating device may include: drive rod；
Described two drive rods are separately mounted on first driven pulley and second driven pulley, and point
It is not connected from the different doors, to drive corresponding door to rotate.
In a kind of application example of the application, drive rod may include: the first drive rod and the second drive rod, and first passes
Lever is rotated with the first driven pulley of transmission device along counterclockwise, meanwhile, the second drive rod is with the second of transmission device
Driven pulley rotates clockwise.
In a kind of embodiment of the application, the tail portion hinge of above-mentioned power device, head hinge, two of transmission device
Any (the first driven pulley or the second driven pulley) in driven pulley may be constructed tri-joint mechanism power mechanism, three hinge
The power of point power mechanism transmitting realizes the constant speed reverse rotation motion of described two driven pulleies.In the work of above-mentioned power device
During work, the first drive rod will be rotated in a first direction with the first driven pulley, while the second drive rod will be with second
Driven pulley rotates in a second direction.Wherein, first direction and second direction are opposite direction.For example, first direction is inverse
Clockwise, second direction are clockwise direction etc..
The embodiment of the present application is without restriction for the connection type between drive rod and door.Above-mentioned connection type can be with
It include: belt pulley connection, elastic dowel pin shaft coupling connection, gear connects, rigid process hole is bolted, sliding cross coupling
Connection, magnetic connection etc..
In a kind of alternative embodiment of the application, the drive rod can pass through wirerope trigger mechanism and corresponding storehouse
Door is connected, then the driven pulley can drive the rotating arm to rotate by wirerope trigger mechanism.Wirerope is by mechanics
The helical form steel tendon that performance and the satisfactory steel wire of geometric dimension are twisted together according to certain rules, wirerope are usual
By steel wire, wire rope core and grease composition.Wirerope is first by multilayer steel wire to be twisted stock, then centered on wire rope core, by certain amount
Stock twists helically wound rope.The intensity of wirerope is high, from heavy and light, stable working, be not easy whole root fracture suddenly, reliable operation.
In a kind of embodiment of the application, the wirerope trigger mechanism be can specifically include: wirerope and wirerope
Regulating part；The wirerope regulating part is hinged on the drive rod, and the tail portion of the wirerope is from the wirerope regulating part
Centre bore pass through, and be tangential on the 4th pulley after the tangent winding of third pulley, and be pressed on the door door connector it
On.That is, the head of wirerope is located on drive rod, tail portion is located on door.Third pulley and the 4th pulley are for wirerope
For can play guiding role.
In another alternative embodiment of the application, the rotating device may include: rotating arm, the rotating arm with
Corresponding door forms parallel four-bar linkage.Above-mentioned parallel four-bar linkage specifically includes: two fixed hinges and two work
Dynamic hinge, and door can be around two fixed hinge rotations or swing.Door may be implemented in above-mentioned parallel four-bar linkage
Indent, due to that can realize the rotation of door under the concave configuration of door, the ON/OFF of door can be realized in inside,
And it can be not take up exterior space, therefore can be adapted for the scene of storage robot, it is carried out with the inside in storage robot
The ON/OFF of door.
In a kind of embodiment of the application, the principle of above-mentioned parallel four-bar linkage can be with are as follows: the door is corresponding with
The first end of two door connectors, the door connector is hinged on the door, and the second end of the door connector passes through door
Connecting rod is hinged on the rotating arm.
In practical applications, the door may be mounted on two door connectors, described two connectors and institute
The mounting surface for stating door is coplanar.It may include: first end and second end, wherein first end for a door connector
It is hinged on door, second end is hinged on rotating arm by door connecting rod.
The rotating mechanism of the embodiment of the present application may include: rotating arm and drive rod.In from open state to off status
During one, drive rod can not generate relative motion relative to rotating arm, therefore door can be driven according to first direction (such as inverse time
Needle direction) rotation.From open state to off status second during, two doors contact, two rotating arms can not continue to revolve
Turn；And drive rod can overcome resistance and continue to rotate according to first direction, in such cases, door can be by means of above-mentioned flat
Row four-bar mechanism continues hoisting, and door protrudes outward under the drive of above-mentioned parallel four-bar linkage, therefore can compensate
While appearance notch between two doors, sealing and water-proof function are realized.Optionally, sealing can be set on door
The hoisting of item, door can squeeze sealing strip, improve sealing and waterproof performance between two doors.
In a kind of alternative embodiment of the application, coiling machine can connect between the rotating arm and the door
Structure.The elastic force of above-mentioned spring mechanism can make door tension and be in the extreme lower position swung, therefore can door be existed
It is rotated during above-mentioned first.Also, during above-mentioned first, rotational resistance is no more than the elastic force of spring, bullet
Spring is not deformed, and spring can not destroy the motion state of rotary motion.And during above-mentioned second, rotational resistance is more than
The elastic force of spring, spring are deformed (stretching), and spring can destroy the motion state of rotary motion, so that rotary motion knot
Beam, and door hoisting outward under the drive of parallel four-bar linkage, realize evagination effect.
According to a kind of embodiment, during the pass of door, the driving force of the tri-joint mechanism power mechanism can be greater than institute
The sum of the rotational resistance, door gravity and the elastic force of the spring mechanism of rotating arm are stated, the elastic force is hindered greater than the rotation
Power, therefore in the case where door rotation, the wirerope trigger mechanism can not be triggered, and door is in the lowest order of hoisting
It sets；In the case where door and limited block contact, two door contacts, the rotational resistance can be greater than the elastic force, described
Wirerope trigger mechanism is triggered, and the driven pulley drives the wirerope trigger mechanism movement, that is, drives corresponding door
The parallelogram lindage swing rotary realizes the hoisting evagination movement of door.
According to another embodiment, in the open procedure of door, above-mentioned tri-joint mechanism power mechanism drives constant speed to reversely rotate
The driven pulley of device rotates, whole to move to a line of least resistance, band of the equipment in the tri-joint mechanism power mechanism
Under dynamic, the swing rotary movement of the parallel four-bar is executed, door is driven indent；Door indent to the limited block the case where
Under, swing rotary movement terminates, and door starts rotary motion, and two doors are rotated to two sides.
In a kind of embodiment of the application, the spring mechanism may include: the first spring fastenings, spring and second
Spring fastenings；
First spring fastenings are mounted on the door connector of the door, and the spring is connected to first bullet
Between spring connector and the second spring connector, the second spring connector is mounted on the rotating arm.
In a kind of alternative embodiment of the application, the rotating arm is on the corresponding position of the parallel four-bar linkage
Cushion collar can be set.Cushion collar can play the position-limiting action for above-mentioned parallel―ordinal shift, so that door can not be downward
Rotation.
In a kind of alternative embodiment of the application, the equipment can also include: frizzen, limit switch and supply automatically controlled
Device processed；The frizzen is located at the output node of the transmission device, if the frizzen touches the limit switch, institute
The power supply circuit that power supply control apparatus cuts off the power device is stated, so that the power device stops working.
To sum up, the door of the embodiment of the present application controls equipment, can be with since transmission device can drive rotating device to rotate
So that above-mentioned door rotation, forms arching trajectory, therefore can be adapted for the corresponding freight house of door arching trajectory, such as round,
The freight house of the abnormity appearance such as ellipse.
Also, the transmission device of the embodiment of the present application drives two rotating device constant speed to reversely rotate, and can make above-mentioned
Two door constant speed reversely rotate, therefore synchronous effect (synchronous closing effect or the synchronization of above-mentioned two door may be implemented
Open door effect).
In addition, the rotating arm of the embodiment of the present application can form parallel four-bar linkage with corresponding door.It is above-mentioned parallel
Four-bar mechanism specifically includes: two fixed hinges and two movable hinges, and door can be around two fixed hinge rotations
Or it swings.The indent of door may be implemented in above-mentioned parallel four-bar linkage, due to that can realize storehouse under the concave configuration of door
The rotation of door, therefore the ON/OFF of door can be realized in inside, and it can be not take up exterior space, therefore can be adapted for storehouse
The scene of robot is stored up, the ON/OFF of door is carried out with the inside in storage robot.
Further, the door of the embodiment of the present application, can be by means of parallel―ordinal shift in the case where rotary motion terminates
Mechanism continues hoisting, and door protrudes outward under the drive of above-mentioned parallel four-bar linkage, therefore can compensate two doors
Between appearance notch while, realize sealing and water-proof function.
The embodiment of the present application can be applied to the freight house of the special-shaped appearance such as circle, ellipse in storage scene, and the application is real
It applies example and the freight house in robot storage scene is introduced by specific example, the freight house in other storage scenes is mutually joined
According to.
Referring to Fig.1, a kind of application drawing of the freight house provided for one embodiment of the application on robot chassis, referring to Fig. 2,
The schematic perspective view for a kind of freight house that Fig. 3, respectively one embodiment of the application are provided, wherein freight house may include: opposite
The first door 1 and the second door 2 being arranged are provided with trim 3 on the second door 2, and trim 3 can play decoration function.
Freight house may include: rib 4, and rib 4 can play the barrier effect of the cargo for such as package, prevent cargo from freight house
It drops out.
Referring to Fig. 4, Fig. 5, Fig. 6, the respectively a kind of schematic perspective view of freight house of one embodiment of the application offer.
In Fig. 4, the first door 1 is on first connector, 24, second connectors 31, first connector 24, the
Two connectors 31 are coplanar with the mounting surface of the first door 1.
The rotating arm of the embodiment of the present application forms parallel four-bar linkage with corresponding door.For example, first rotating arm 10
The first parallel four-bar linkage is formed with the first door 1.Above-mentioned first parallel four-bar linkage specifically includes: two fixed hinges
(a, c) and two movable hinges (b, d), and the first door 1 can be around two fixed hinge (a, c) rotations or swing.
The principle of above-mentioned first parallel four-bar linkage can be with are as follows: for corresponding first connector 24 of the first door 1
For second connector 31, specifically include: first end and second end, wherein first end is hinged on the first door 1, the
Two ends are hinged on first rotating arm 10 by door connecting rod (first connecting rod 22 and second connecting rod 30).
The indent of the first door 1 may be implemented in above-mentioned first parallel four-bar linkage, due to can be in the first door 1
The rotation of door is realized under concavity state, therefore the ON/OFF of the first door 1 can be realized in inside, and can be not take up external sky
Between, therefore can be adapted for the scene of storage robot, the ON/OFF of the first door 1 is carried out with the inside in storage robot.
Second door 2 is similar with the structure of the first door 1.In Fig. 5, the second door 2 is mounted in third door connector the 43, the 4th
On door connector 50,43, the 4th connectors 50 of third door connector are coplanar with the mounting surface of the second door 2.
Second rotating arm 9 and the second door 2 form the second parallel four-bar linkage.Above-mentioned second parallel four-bar linkage tool
Body includes: two fixed hinges (e, g) and two movable hinges (f, h), and the second door 2 can be around two fixed hinges
(e, g) rotation is swung.
For hinge a, b, c, d, e, f, g and h, the first pin shaft 20, the second pin shaft 23, can have been respectively corresponded
Three pin shafts 29, the 4th pin shaft 32, the 5th pin shaft 39, the 6th pin shaft 41, the 7th pin shaft 47 and the 8th pin shaft 48.
In Fig. 4 and Fig. 5, constant speed, which reversely rotates device 8, can realize that two pulleys (slide by the first driven pulley and the second transmission
Wheel) reverse rotation motion, the first driving lever 11, the second driving lever 33 be separately mounted to constant speed reversely rotate device 8 first transmission
On pulley and the second driven pulley, the first driving lever 11, the constant speed of the second driving lever 33, reverse rotation motion can be realized, and opposite
The median plane of freight house is symmetrical.
Optionally, the driven pulley drives the rotating arm rotation by wirerope trigger mechanism.Above-mentioned wirerope touching
Hair mechanism can specifically include: wirerope and wirerope regulating part.In Fig. 4, left wirerope regulating part 12 is hinged on the first driving lever
On 11, the tail portion of left wirerope 17 is passed through from the centre bore of left wirerope regulating part 12, with after the tangent winding of third pulley 15 again
It is tangential on the 4th pulley 19, left pin shaft 18 is for fastening the 4th pulley 19.Finally first is pressed on by left wirerope compressing member 21
On door connector 24, i.e., the head of left wirerope 17 is located on the first driving lever 11, and tail portion is located on the first door 1.
In Fig. 5, right wirerope regulating part 34 is hinged on the second driving lever 33, and the tail portion of right wirerope 36 is from right wirerope tune
The centre bore of section part 34 passes through, and is tangential on the 6th pulley 37 after the tangent winding of the 5th pulley 35 again, and right pin shaft 38 is for fastening
6th pulley 37.It is finally pressed on third door connector 43 by right wirerope compressing member 40, i.e., the head position of right wirerope 36
In on the second driving lever 33, tail portion is located on the second door 2.
The first spring mechanism is can connect between first rotating arm 10 and the first door 1.In Fig. 4, the first spring mechanism
It may include: the first spring fastenings 25, the first spring 26 and second spring connector 27；First spring fastenings 25 are mounted on
On first connector 24 of the first door 1, the first spring 26 is connected to the first spring fastenings 25 and second spring connector
Between 26, second spring connector 27 is mounted on first rotating arm 10.
Second spring mechanism is can connect between second rotating arm 9 and the second door 2.In Fig. 5, second spring mechanism can
To include: third spring fastenings 44, second spring 45 and the 4th spring fastenings 46；Third spring fastenings 44 are mounted on
On the third door connector 43 of two doors 2, second spring 45 is connected to third spring fastenings 44 and the 4th spring fastenings 46
Between, the 4th spring fastenings 46 are mounted on the second rotating arm 9.
Motion process of the door of the embodiment of the present application from open state to off status includes: the first process and the second process.
Referring to Fig. 7 A, structural schematic diagram of a kind of freight house provided for one embodiment of the application under the open state of door, referring to Fig. 7 B
Structural schematic diagram of a kind of freight house provided for one embodiment of the application under the off status of door, in this way, the embodiment of the present application
Motion process of the door from open state to off status namely state shown in from state change shown in Fig. 7 A to Fig. 7 B.
Above-mentioned first spring mechanism or the elastic force of second spring mechanism can make the first door or the second door by
It draws and the extreme lower position in swing, therefore the first door or the second door can be made to be revolved during above-mentioned first
Transhipment is dynamic.Also, during above-mentioned first, rotational resistance is no more than the elastic force of spring, and spring is not deformed, and spring can be with
The motion state of rotary motion is not destroyed.And during above-mentioned second, rotational resistance is more than the elastic force of spring, and spring generates change
Shape (stretching), spring can destroy the motion state of rotary motion, so that rotary motion terminates, and the first door or the second storehouse
Door hoisting outward under the drive of parallel four-bar linkage, realizes evagination effect.
Constant speed reversely rotates device 8 and can be driven by push-rod electric machine 7, and it is hinged that the tail portion hinge of push-rod electric machine 7 is mounted on end
On seat 6, end hinged seat 6 is mounted in warehouse structure 5；The head of push-rod electric machine 7 is hinged on motor company by motor pin shaft 52
On fitting 53, motor contact 53 is mounted on constant speed and reversely rotates on the top sheave of device 8；Tail portion hinge, the head of push-rod electric machine 7
Driven pulley (namely the first driven pulley or second driven pulley) center of circle that portion's hinge, constant speed reversely rotate device 8 is constituted
Tri-joint mechanism power mechanism, in the case where push-rod electric machine 7 extends, the first driving lever 11 will reversely rotate the of device 8 with constant speed
One driven pulley is along rotation counterclockwise, while right driving lever 33 will reversely rotate the second driven pulley of device 8 with constant speed along suitable
Hour hands rotation.
In the case where push-rod electric machine 7 extends, the first rotation counterclockwise of driving lever 11, opposite first rotation of the first driving lever 11 at this time
Pivoted arm 10 does not generate relative motion, can drive the first rotation counterclockwise of door 1, while reversely rotating device 8 by constant speed
Effect, the second door 2, which synchronizes, to be rotated clockwise, and speed is identical as the speed of the first door 1.
Referring to Fig. 8 A, Fig. 8 B, Fig. 8 C and Fig. 8 D, the position of door provided by the embodiments of the present application, reference are respectively illustrated
Fig. 9 A, Fig. 9 B, Fig. 9 C and Fig. 9 D, respectively illustrate the position of rotating arm provided by the embodiments of the present application.Wherein, in the first door
1, the second door 2 is in Fig. 8 A, Fig. 9 location A, by Fig. 8 B, Fig. 9 B location, during Fig. 8 C, Fig. 9 C rotation, the first storehouse
The 1, second door 2 of door can do constant speed reverse rotation motion, and axis of rotation is same axle center；In Fig. 8 C, Fig. 9 location of C, first
Door 1, the second door 2 rotate to the center of freight house, and the first door 1 is contacted with the second door 2, and in such cases first
Door 1, the second door 2 can not continue to rotate, and first rotating arm 10, the second rotating arm 9 can not continue to rotate.If push-rod electric machine 7
Continue to extend, then the first driving lever 11 overcomes the first bullet by 17, first connectors 24 of left wirerope, the first spring fastenings 25
The elastic force of spring 26 continues rotation counterclockwise, and the second driving lever 33 then can constant speed rotation clockwise；First door 1 passes through first
24, second connectors 31 of connector are rotated around hinge a, c；The second door 2 passes through third door connector 43, the 4th Men Lian simultaneously
Fitting 50 is rotated around hinge f, g；The motion process of this process such as Fig. 8 C, Fig. 9 C to Fig. 8 D, Fig. 9 D, the first door 1, the second door
2 synchronous hoistings, therefore the corresponding inner wall of shell can be squeezed while compensating appearance notch, realize waterproof action.
As shown in fig. 6, electric signal, cutting by ejector pin electricity can be provided if frizzen 55 touches shutdown limit switch 56
The power supply circuit of machine 7 makes push-rod electric machine 7 stop elongation, and the first door 1, the second door 2 break off an action, therefore may be implemented outer
See the effect of compensation, waterproof.
For Fig. 2 to freight house shown in fig. 6, in door in the motion process from off status to open state, push rod electricity
Machine 7 shortens, and the first driving lever 11 rotates clockwise, and the second driving lever 33 synchronizes rotation counterclockwise.Door is from off status to open state
Motion process may include: third process and the 4th process, and door does pendulum drop movement during third, and door is in the 4th process
In make rotating motion.
For the embodiment of the present application during closing door, the power transmitted from tri-joint mechanism power mechanism realizes that constant speed is reversely revolved
The constant speed reverse rotation motion of two driven pulleies of rotary device, driven pulley drive rotating arm rotation by wirerope trigger mechanism
Turn；The driving force of power mechanism is greater than the sum of rotational resistance, door gravity, spring force, and spring force is greater than rotating arm at this time
Rotational resistance, therefore door rotate in the case where, wirerope trigger mechanism is not triggered, and door is in the lowest order of hoisting always
It sets, door is contacted with limited block, and when two fan doors rotate to end, two fan door contacts, rotational resistance is greater than spring force,
Equipment can not execute rotary motion again, and wirerope trigger mechanism is triggered at this time, and driven pulley drives wirerope to transport by driving lever
It is dynamic, that is, the parallelogram lindage swing rotary of corresponding door is driven, realizes the hoisting evagination movement of door.
For the embodiment of the present application during storehouse door opening, tri-joint mechanism power mechanism drives the transmission of constant speed reverse rotation device
Pulley rotation, whole to move to a line of least resistance, equipment preferentially executes parallel four-bar rotation descending motion, and door is driven
Indent, when door indent to limited block, swing rotary movement terminates, and door starts rotary motion, two fan doors, that is, rotatable
It is split, it is rotated to two sides.
It is appreciated that the second door 2 motion principle it is similar with the motion principle of the first door 1, door from off status to
The motion process of open state is similar with motion process of the door from open state to off status, and and therefore not to repeat here, cross-referenced
.
The specific implementation that the embodiment of the present application reversely rotates device 8 for constant speed is without restriction.According to a kind of reality
Example is applied, the implementation that constant speed reversely rotates device 8 may include: gear transmission mode, and gear transmission mode has precision high
The advantages of, however due to more demanding manufacture and installation accuracy, manufacturing cost is higher
According to another embodiment, the implementation that constant speed reversely rotates device 8 may include: the sister block kind of drive.
Correspondingly, constant speed reverse rotation device 8 may include:
First driven pulley and the second driven pulley, first driven pulley and second driven pulley are coaxially set
It sets, and diameter is identical；
Third pulley and the 4th pulley；And
First attachment and the second attachment；
The both ends of first attachment are separately fixed on the first driven pulley and the second driven pulley, and the two of the second attachment
End is separately fixed on the first driven pulley and the second driven pulley；The centre of first attachment is sliding around third pulley or the 4th
Wheel；The centre of second attachment bypasses third pulley or the 4th pulley.
In the winding path of the first attachment, the side of path segments occupied by the first driven pulley and the second driven pulley
It can be third direction and fourth direction to difference；In the winding path of the second attachment, the first driven pulley and second is passed
The direction of path segments occupied by movable pulley can be respectively the fourth direction and the third direction；The third direction and
The fourth direction is opposite.
Constant speed reversely rotates device 8 by the way that the first attachment, the second attachment are wrapped in the first driven pulley, the second biography
On movable pulley, in the winding path of each attachment, the side of path segments occupied by the first driven pulley and the second driven pulley
To on the contrary, in this manner it is possible to being wrapped in the first driven pulley by the first attachment, the second attachment, on the second driven pulley
Length variation, the reverse rotation of Lai Shixian the first driven pulley and the second driven pulley.
In the embodiment of the present application, the winding path of attachment can refer to the routing from origin-to-destination.One is connected
It, can be using one end as starting point, using its other end as terminal for object.It is appreciated that the either end of attachment can be with
As starting point, the embodiment of the present application mainly by one end be starting point for be illustrated, the other end be starting point the case where it is cross-referenced
, the embodiment of the present application is without restriction for specific beginning and end.
Constant speed reversely rotates in device 8, and the diameter of the first driven pulley and the second driven pulley can use D respectively1And D2Table
Show, angular speed can use ω respectively1And ω2It indicates, linear velocity uses V respectively1And V2It indicates, revolving speed uses N respectively1And N2It indicates,
Length variable quantity of first attachment on the first driven pulley and the second driven pulley can use Δ L respectively1With Δ L2Carry out table
Show, the unit time is indicated with Δ T.
The linear velocity V of first driven pulley and the second driven pulley1And V2It can indicate are as follows:
The angular velocity omega of first driven pulley and the second driven pulley1And ω2It can indicate are as follows:
The revolving speed N of first driven pulley and the second driven pulley1And N2It can indicate are as follows:
The rotating ratio of first driven pulley and the second driven pulley can indicate are as follows:
During first driven pulley and the second driven pulley rotate, since the total length of the first attachment will not occur
Variation, therefore, length variation delta L of first attachment on the first driven pulley and the second driven pulley1With Δ L2Numerical value
Equal, therefore, formula (7) can indicate are as follows:
By formula (8) it is found that the rotating ratio and the first driven pulley and second of the first driven pulley and the second driven pulley
The diameter of driven pulley is than inversely proportional relationship, therefore the diameter of the first driven pulley and the second driven pulley is identical, Ke Yishi
Existing constant speed reversely rotates.
To sum up, the door of the embodiment of the present application controls equipment, can be with since transmission device can drive rotating device to rotate
So that above-mentioned door rotation, forms arching trajectory, therefore can be adapted for the corresponding freight house of door arching trajectory, such as round,
The freight house of the abnormity appearance such as ellipse.
Also, the transmission device of the embodiment of the present application drives two rotating device constant speed to reversely rotate, and can make above-mentioned
Two door constant speed reversely rotate, therefore synchronous effect (synchronous closing effect or the synchronization of above-mentioned two door may be implemented
Open door effect).
The embodiment of the present application also provides a kind of warehousing system, which be can specifically include:
Freight house, the freight house may include: two doors being oppositely arranged；And
Door above-mentioned controls equipment.
Door control equipment is for controlling two doors being oppositely arranged, to realize the ON/OFF of two doors.
The warehousing system of the embodiment of the present application, since the transmission device in door control equipment can drive rotating device
Rotation can make above-mentioned door rotate, and form arching trajectory, therefore can be adapted for the corresponding freight house of door arching trajectory,
Such as the freight house of the special-shaped appearance such as circle, ellipse.
Also, the above-mentioned transmission device of the embodiment of the present application drives two rotating device constant speed to reversely rotate, and can make
Above-mentioned two door constant speed reversely rotates, thus may be implemented above-mentioned two door synchronous effect (synchronous closing effect or
Synchronous open door effect).
In addition, the rotating arm of the embodiment of the present application can form parallel four-bar linkage with corresponding door.It is above-mentioned parallel
Four-bar mechanism specifically includes: two fixed hinges and two movable hinges, and door can be around two fixed hinge rotations
Or it swings.The indent of door may be implemented in above-mentioned parallel four-bar linkage, due to that can realize storehouse under the concave configuration of door
The rotation of door, therefore the ON/OFF of door can be realized in inside, and it can be not take up exterior space, therefore can be adapted for storehouse
The scene of robot is stored up, the ON/OFF of door is carried out with the inside in storage robot.
Further, the door of the embodiment of the present application, can be by means of parallel―ordinal shift in the case where rotary motion terminates
Mechanism continues hoisting, and door protrudes outward under the drive of above-mentioned parallel four-bar linkage, therefore can compensate two doors
Between appearance notch while, realize sealing and water-proof function.
In a kind of embodiment of the application, the freight house of the embodiment of the present invention can be biparting shape hoisting door freight house, this pair
Fan-shaped hoisting door freight house, which can be mounted on different chassis, is combined into different robots, to realize cargo store function, and
And the biparting shape hoisting door freight house can be not take up external enabling space, solve the problems, such as that special-shaped appearance freight house opens the door.
All the embodiments in this specification are described in a progressive manner, the highlights of each of the examples are with
The difference of other embodiments, the same or similar parts between the embodiments can be referred to each other.
It should be understood by those skilled in the art that, the embodiments of the present application may be provided as method, apparatus or calculating
Machine program product.Therefore, the embodiment of the present application can be used complete hardware embodiment, complete software embodiment or combine software and
The form of the embodiment of hardware aspect.Moreover, the embodiment of the present application can be used one or more wherein include computer can
With in the computer-usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) of program code
The form of the computer program product of implementation.
The embodiment of the present application is referring to according to the method for the embodiment of the present application, terminal device (system) and computer program
The flowchart and/or the block diagram of product describes.It should be understood that flowchart and/or the block diagram can be realized by computer program instructions
In each flow and/or block and flowchart and/or the block diagram in process and/or box combination.It can provide these
Computer program instructions are set to general purpose computer, special purpose computer, Embedded Processor or other programmable data processing terminals
Standby processor is to generate a machine, so that being held by the processor of computer or other programmable data processing terminal devices
Capable instruction generates for realizing in one or more flows of the flowchart and/or one or more blocks of the block diagram
The device of specified function.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing terminal devices
In computer-readable memory operate in a specific manner, so that instruction stored in the computer readable memory generates packet
The manufacture of command device is included, which realizes in one side of one or more flows of the flowchart and/or block diagram
The function of being specified in frame or multiple boxes.
These computer program instructions can also be loaded into computer or other programmable data processing terminal devices, so that
Series of operation steps are executed on computer or other programmable terminal equipments to generate computer implemented processing, thus
The instruction executed on computer or other programmable terminal equipments is provided for realizing in one or more flows of the flowchart
And/or in one or more blocks of the block diagram specify function the step of.
Although preferred embodiments of the embodiments of the present application have been described, once a person skilled in the art knows bases
This creative concept, then additional changes and modifications can be made to these embodiments.So the following claims are intended to be interpreted as
Including preferred embodiment and all change and modification within the scope of the embodiments of the present application.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that process, method, article or terminal device including a series of elements not only wrap
Those elements are included, but also including other elements that are not explicitly listed, or further includes for this process, method, article
Or the element that terminal device is intrinsic.In the absence of more restrictions, being wanted by what sentence "including a ..." limited
Element, it is not excluded that there is also other identical elements in process, method, article or the terminal device for including the element.
Above to a kind of door control equipment provided herein and warehousing system, it is described in detail, herein
Applying specific case, the principle and implementation of this application are described, and the explanation of above example is only intended to help
Understand the present processes and its core concept；At the same time, for those skilled in the art, according to the thought of the application,
There will be changes in the specific implementation manner and application range, in conclusion the content of the present specification should not be construed as to this
The limitation of application.
Claims (15)
1. a kind of door controls equipment, which is characterized in that for controlling be oppositely arranged two doors, the equipment includes:
Two rotating devices, are separately connected door different in described two doors；
Power device is used to provide power；And
Transmission device is connected with described two rotating devices and the power device, for what is provided according to the power device
Power drives described two rotating device constant speed to reversely rotate, so that described two door constant speed reversely rotate.
2. equipment according to claim 1, which is characterized in that the rotating device includes: rotating arm, the rotating arm with
Corresponding door forms parallel four-bar linkage.
3. equipment according to claim 2, which is characterized in that the tail portion hinge and head hinge of the power device and institute
Any formation tri-joint mechanism power mechanism in two driven pulleies of transmission device is stated, the tri-joint mechanism power mechanism transmitting is moved
Power realizes the constant speed reverse rotation motion of described two driven pulleies.
4. equipment according to claim 3, which is characterized in that the driven pulley drives institute by wirerope trigger mechanism
State rotating arm rotation.
5. equipment according to claim 4, which is characterized in that be connected with coiling machine between the rotating arm and the door
Structure.
6. equipment according to claim 5, which is characterized in that during the pass of door, the tri-joint mechanism power mechanism
Driving force be greater than the sum of rotational resistance of the rotating arm, door gravity, elastic force of the spring mechanism, the elastic force is greater than
The rotational resistance, therefore in the case where door rotation, the wirerope trigger mechanism is not triggered, and door is in hoisting most
Lower position；In the case where door and limited block contact, two door contacts, the rotational resistance is greater than the elastic force, described
Wirerope trigger mechanism is triggered, and the driven pulley drives the wirerope trigger mechanism movement, that is, drives corresponding door
The parallelogram lindage swing rotary realizes the hoisting evagination movement of door.
7. equipment according to claim 5, which is characterized in that in the open procedure of door, the equipment is in three hinge
Under the drive of point power mechanism, the swing rotary movement of the parallel four-bar is executed, door is driven indent；Door indent extremely
In the case where limited block, swing rotary movement terminates, and door starts rotary motion, and two doors are rotated to two sides.
8. equipment according to claim 2, which is characterized in that the door is corresponding there are two door connector, and the door connects
The first end of fitting is hinged on the door, and the second end of the door connector is hinged on the rotating arm by door connecting rod
On.
9. equipment according to claim 5, which is characterized in that the spring mechanism includes: the first spring fastenings, spring
With second spring connector；
First spring fastenings are mounted on the door connector of the door, and the spring is connected to first spring and connects
Between fitting and the second spring connector, the second spring connector is mounted on the rotating arm.
10. equipment according to claim 2, which is characterized in that pair of the rotating arm in the parallel four-bar linkage
It answers and is provided with cushion collar on position.
11. according to claim 1 to any equipment in 10, which is characterized in that the transmission device includes: the first transmission
Pulley and the second driven pulley；First driven pulley and second driven pulley are coaxially disposed and diameter is identical, with reality
The constant speed of existing first driven pulley and second driven pulley reversely rotates；First driven pulley and described second
Any in driven pulley is connected with the power device；
The rotating device includes: drive rod；
Described two drive rods are separately mounted on first driven pulley and second driven pulley, and respectively with
The different doors is connected.
12. equipment according to claim 4, which is characterized in that the wirerope trigger mechanism includes: wirerope and steel wire
Rope regulating part；
The wirerope regulating part is hinged on the drive rod, and the tail portion of the wirerope is from the wirerope regulating part
Heart hole passes through, and is tangential on the 4th pulley after the tangent winding of third pulley, and is pressed on the door connector of the door.
13. according to claim 1 to any equipment in 10, which is characterized in that the equipment further include: frizzen, limit
Bit switch and power supply control apparatus；
The frizzen is located at the output node of the transmission device, described if the frizzen touches the limit switch
Power supply control apparatus cuts off the power supply circuit of the power device.
14. according to claim 1 to any equipment in 10, which is characterized in that the tail portion hinge of the power device is pacified
On the hinged seat of end, the end hinged seat is mounted on the freight house where the door；
The head of the power device is hinged on the connector of the power device.
15. a kind of warehousing system characterized by comprising
Freight house, the freight house include: two doors being oppositely arranged；And
Any door controls equipment in claim 1 to 14.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810488590.5A CN110512983B (en) | 2018-05-21 | 2018-05-21 | Warehouse door control equipment and warehouse system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810488590.5A CN110512983B (en) | 2018-05-21 | 2018-05-21 | Warehouse door control equipment and warehouse system |
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| CN110512983A true CN110512983A (en) | 2019-11-29 |
| CN110512983B CN110512983B (en) | 2021-05-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810488590.5A Active CN110512983B (en) | 2018-05-21 | 2018-05-21 | Warehouse door control equipment and warehouse system |
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|---|---|---|---|---|
| CN2363013Y (en) * | 1998-08-07 | 2000-02-09 | 赖锦盈 | Arc shape automatic door wing gearing mechanism |
| WO2000007922A1 (en) * | 1998-08-05 | 2000-02-17 | Vertisys International, Inc. | Door operator for elevators having curved doors |
| CN1453448A (en) * | 2002-04-28 | 2003-11-05 | 何鉊轩 | Driving mechanism for arched automatic door |
| CN102296901A (en) * | 2011-08-22 | 2011-12-28 | 南京航空航天大学 | Device capable of automatically opening and closing cabin door in compact cabin body |
| CN208486746U (en) * | 2018-05-21 | 2019-02-12 | 菜鸟智能物流控股有限公司 | Warehouse door control equipment and warehouse system |
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2018
- 2018-05-21 CN CN201810488590.5A patent/CN110512983B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2000007922A1 (en) * | 1998-08-05 | 2000-02-17 | Vertisys International, Inc. | Door operator for elevators having curved doors |
| CN2363013Y (en) * | 1998-08-07 | 2000-02-09 | 赖锦盈 | Arc shape automatic door wing gearing mechanism |
| CN1453448A (en) * | 2002-04-28 | 2003-11-05 | 何鉊轩 | Driving mechanism for arched automatic door |
| CN102296901A (en) * | 2011-08-22 | 2011-12-28 | 南京航空航天大学 | Device capable of automatically opening and closing cabin door in compact cabin body |
| CN208486746U (en) * | 2018-05-21 | 2019-02-12 | 菜鸟智能物流控股有限公司 | Warehouse door control equipment and warehouse system |
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| CN110512983B (en) | 2021-05-28 |
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