CN110512983B - Warehouse door control equipment and warehouse system - Google Patents
Warehouse door control equipment and warehouse system Download PDFInfo
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- CN110512983B CN110512983B CN201810488590.5A CN201810488590A CN110512983B CN 110512983 B CN110512983 B CN 110512983B CN 201810488590 A CN201810488590 A CN 201810488590A CN 110512983 B CN110512983 B CN 110512983B
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- 229910000831 Steel Inorganic materials 0.000 claims description 29
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- 230000001960 triggered effect Effects 0.000 claims description 6
- 230000000694 effects Effects 0.000 abstract description 24
- 230000001360 synchronised effect Effects 0.000 abstract description 14
- 238000010586 diagram Methods 0.000 description 14
- 238000003860 storage Methods 0.000 description 13
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- 238000004590 computer program Methods 0.000 description 7
- 238000007789 sealing Methods 0.000 description 6
- 239000000463 material Substances 0.000 description 5
- 230000009471 action Effects 0.000 description 4
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- 206010066054 Dysmorphism Diseases 0.000 description 2
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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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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
The application relates to the technical field of warehousing, in particular to warehouse door control equipment and a warehousing system.
Background
Warehousing refers to the general term of storing, keeping and warehouse-related storage activities of materials through warehouses. Warehousing is generated along with the generation of material storage and the development of productivity. Warehousing is one of the important links of commodity circulation and is also an important pillar of logistics activity.
Currently, a warehouse for warehousing is provided with a door to realize loading and unloading of materials by opening and closing the door. In addition, for a common rectangular parallelepiped cargo compartment, a compartment door is usually opened by a horizontal movement of the compartment door.
However, as the human society progresses and develops, the living standard increases, the material demand increases, the commercial activities flourish, and the storage of various materials is more frequent, the types of the warehouse are more and more, and the warehouse with the cross section of the special-shaped appearance such as a circle, an ellipse and the like exists in the practical application. Since the bin door of the bin with the special-shaped appearance usually needs an arc-shaped track, and the horizontal moving mode of the bin door can only form a straight track, the horizontal moving mode of the bin door cannot be applied to the bin with the special-shaped appearance.
Disclosure of Invention
In view of the above problem, the embodiment of the present application provides a warehouse door control device and a warehouse system, which can be applied to a warehouse with a special-shaped appearance such as a circle, an ellipse, etc., and can achieve a synchronization effect of two warehouse doors.
In order to solve the above problem, an embodiment of the present application discloses a bin gate control device, which is used for controlling two bin gates arranged oppositely, and the device 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
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 has the following advantages:
the transmission of this application embodiment can drive the rotary device rotatory, can be so that above-mentioned door is rotatory, forms the arc orbit, consequently can be applicable to the storehouse that door arc orbit corresponds, for example the storehouse of dysmorphism outward appearance such as circular, oval.
In addition, the transmission device of the embodiment of the application drives the two rotating devices to rotate in the constant speed and reverse directions, so that the two bin gates rotate in the constant speed and reverse directions, and the synchronous effect of the two bin gates can be realized.
Drawings
Fig. 1 is a diagram of an application of a cargo compartment on a robot chassis according to an embodiment of the present application;
fig. 2 is a schematic perspective view of a cargo compartment according to an embodiment of the present application;
fig. 3 is a schematic perspective view of a cargo compartment according to an embodiment of the present application;
fig. 4 is a schematic perspective view of a cargo compartment according to an embodiment of the present application;
fig. 5 is a schematic perspective view of a cargo compartment according to an embodiment of the present application;
fig. 6 is a schematic perspective view of a cargo compartment according to an embodiment of the present application;
fig. 7A is a schematic structural diagram of a cargo compartment provided in an embodiment of the present application in a state where a compartment door is opened;
fig. 7B is a schematic structural diagram of a cargo compartment according to an embodiment of the present disclosure in a closed state of a compartment door;
fig. 8A, 8B, 8C and 8D are schematic views of the position of the bin gate provided in the embodiment of the present application, respectively;
fig. 9A, 9B, 9C and 9D are schematic diagrams of positions of a rotating arm according to an embodiment of the present disclosure, respectively;
in the figure, a, b, c, d, e, f, g and h are hinge points; 1-a first bin gate; 2-a second door; 3-decorating the cover; 4-blocking edges; 5-a warehouse structure; 6-end hinged seat; 7-a push rod motor; 8-constant speed counter-rotating means; 9-a second rotating arm; 10-a first rotating arm; 11-a first deflector rod; 12-a left wire rope adjustment; 13-a buffer sleeve; 14-a pulley connection; 15-a third pulley; 16-a shield; 17-left wire rope; 18-left pin; 19-a fourth sheave; 20-a first door pin; 21-left wire rope pressing piece; 22-a first door link; 23-a second door pin; 24-a first door connector; 25-a first spring connector; 26-a first spring; 27-a second spring connection; 28-a buffer sleeve; 29-third door pin; 30-a second door link; 31-a second door connector; 32-a fourth door pin; 33-a second deflector rod; 34-right wire rope adjustment; 35-a fifth pulley; 36-right wire rope; 37-a sixth sheave; 38-right pin; 39-fifth door pin; 40-right steel wire rope pressing piece; 41-sixth door pin; 42-a third door link; 43-a third door connector; 44-a third spring connection; 45-a second spring; 46-a fourth spring connection; 47-seventh door pin; 48-eighth gate pin; 49-fourth door link; 50-a fourth door connector; 51-steel ball rollers; 52-motor pin; 53-motor connection; 54-door opening limit switch; 55-a trigger lever; 56-door closing limit switch.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, the present application is described in further detail with reference to the accompanying drawings and the detailed description.
The embodiment of the application provides a bin gate control equipment, this equipment is used for controlling two bin gates of relative setting, and this equipment specifically 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
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 applied to a warehousing scene, the cross section of the warehouse in the warehousing scene can be circular, oval, even irregular circular arcs and the like, and therefore the warehouse door of the warehouse usually needs an arc-shaped track. And the transmission of this application embodiment can drive rotary device rotatory, can be so that above-mentioned door is rotatory, forms the arc orbit, consequently can be applicable to the storehouse that door arc orbit corresponds, for example the storehouse of dysmorphism outward appearance such as circular, oval.
The warehouse of this application embodiment can include: two oppositely arranged bin gates. The two doors may have an open state and a closed state, respectively, wherein for any door, a process from the open state to the closed state thereof may be referred to as a door closing process, and a process from the closed state to the open state thereof may be referred to as a door opening process. In case that the two doors are simultaneously in a door closing process, or a door opening process, the two doors may perform a reverse rotation motion. The transmission device of the embodiment of the application drives the two rotating devices to rotate in the constant speed and reverse directions, so that the two bin doors can rotate in the constant speed and reverse directions, and the synchronous effect (synchronous door closing effect or synchronous door opening effect) of the two bin doors can be realized.
It can be understood that two oppositely disposed bin gates in the embodiment of the present application may be equal to a bin gate pair, and a cargo bin in a warehousing scene may include: one or more door pairs. For example, a semi-ellipsoidal shaped cargo compartment is provided with a first door pair on a first side and a second door pair on a second side, wherein the first and second sides are oppositely disposed. It is understood that, a person skilled in the art may determine the structure of the bin gate according to the actual application requirement, for example, a bin gate adapted to the periphery of the cargo bin may be provided, and the number of the bin gate pairs included in the cargo bin, the specific location of the bin gate pairs in the cargo bin, and the specific structure of the bin gate are not limited in the embodiments of the present application.
The power device of the embodiment of the application is used for providing power. The power device may include: electric motors, etc. In an alternative embodiment of the present application, the power device may be a push rod motor, and the push rod motor is an electric driving device that converts a rotary motion of an electric motor into a linear reciprocating motion of a push rod.
Alternatively, the tail hinge point of the power device may be mounted on a terminal hinge mount, which may be mounted above the cargo compartment in which the compartment door is located; the head of the power unit may be hinged to the attachment member of the power unit. The hinge point is a connecting position of a hinge or a device arm in mechanical equipment and can play a role of a joint. The hinge point is typically formed by connecting adjacent parts together with a pin to allow the parts to pivot about the hinge point.
The transmission device of the embodiment of the application is used for transmitting power to the rotating device. The transmission mode adopted by the transmission device can comprise: belt drive, gear drive, pulley drive, chain drive, worm drive, screw drive, etc., it is understood that the embodiments of the present application are not limited to a particular drive scheme.
The two rotating devices of the embodiment of the application are respectively connected with different bin gates of the two bin gates to rotate reversely at a constant speed under the driving of the transmission device, so that the two bin gates rotate reversely at a constant speed. The rotating device may have a rotating function, and the specific rotating device is not limited in the embodiments of the present application.
In an alternative embodiment of the present application, the transmission may comprise: a first drive pulley and a second drive pulley; the first transmission pulley and the second transmission pulley are coaxially arranged and have the same diameter, so that the first transmission pulley and the second transmission pulley can rotate in the same speed and opposite directions, namely, the first transmission pulley and the second transmission pulley can output the rotating power in the same speed and opposite directions; any one of the first transmission pulley and the second transmission pulley is connected with the power device to receive the power of the power device;
accordingly, the rotating means may comprise: a transmission rod;
the two transmission rods are respectively arranged on the first transmission pulley and the second transmission pulley and respectively connected with different bin gates so as to drive the corresponding bin gates to rotate.
In an application example of the present application, the transmission rod may include: the first transmission rod rotates along with a first transmission pulley of the transmission device along the anticlockwise direction, and meanwhile, the second transmission rod rotates along with a second transmission pulley of the transmission device along the clockwise direction.
In an embodiment of the present application, any one of the tail hinge point, the head hinge point, and two transmission pulleys (the first transmission pulley or the second transmission pulley) of the transmission device may constitute a three-hinge-point power mechanism, and power transmitted by the three-hinge-point power mechanism realizes constant-speed reverse rotation of the two transmission pulleys. During operation of the power unit, the first driving rod rotates along with the first driving pulley in the first direction, and the second driving rod rotates along with the second driving pulley in the second direction. Wherein the first direction and the second direction are opposite directions. For example, the first direction is counterclockwise, the second direction is clockwise, and so on.
The embodiment of the application does not limit the connection mode between the transmission rod and the bin gate. The above connection mode may include: belt pulley connection, elastic pin coupling connection, gear connection, rigid twisted hole bolt connection, crosshead shoe coupling connection, magnetic connection and the like.
In an optional embodiment of the present application, the transmission rod may be connected to the corresponding bin gate through a wire rope trigger mechanism, and the transmission pulley may drive the rotation arm to rotate through the wire rope trigger mechanism. The steel wire rope is a spiral steel wire bundle formed by twisting steel wires with mechanical properties and geometric dimensions meeting requirements according to a certain rule, and the steel wire rope usually comprises the steel wires, a rope core and lubricating grease. The steel wire rope is a spiral rope which is formed by twisting a plurality of layers of steel wires into strands, and then twisting a certain number of strands by taking a rope core as a center. The steel wire rope has high strength, light dead weight, stable work, difficult sudden whole breakage and reliable work.
In an embodiment of the present application, the steel wire rope triggering mechanism may specifically include: a wire rope and a wire rope adjusting member; the wire rope adjusting piece is hinged to the transmission rod, the tail portion of the wire rope penetrates through a center hole of the wire rope adjusting piece, is tangent to the fourth pulley after being tangent to and wound on the third pulley, and is pressed on the door connecting piece of the bin door. That is, the head of the steel wire rope is positioned on the transmission rod, and the tail of the steel wire rope is positioned on the bin gate. The third pulley and the fourth pulley can play a role in guiding the steel wire rope.
In another alternative embodiment of the present application, the rotating means may include: and the rotating arms and the corresponding bin doors form a parallel four-bar linkage. The parallel four-bar linkage specifically includes: two fixed hinge points and two movable hinge points, and the bin gate can rotate or swing around the two fixed hinge points. The parallel four-bar linkage mechanism can realize the inward recess of the bin door, and because the rotation of the bin door can be realized in the inward recess state of the bin door, the opening/closing of the bin door can be realized in the interior without occupying the external space, so that the parallel four-bar linkage mechanism can be suitable for the scene of the storage robot to open/close the bin door in the interior of the storage robot.
In an embodiment of the present application, the principle of the parallel four-bar linkage may be: the bin door is correspondingly provided with two door connecting pieces, the first ends of the door connecting pieces are hinged on the bin door, and the second ends of the door connecting pieces are hinged on the rotating arms through door connecting rods.
In practice, the bin gate may be mounted over two gate connectors that are coplanar with the mounting surface of the bin gate. For a door connector, it may comprise: the first end is hinged on the bin gate, and the second end is hinged on the rotating arm through a gate connecting rod.
The rotating mechanism of the embodiment of the application can comprise: a rotating arm and a transmission rod. In the first process from the open state to the closed state, the transmission rod can not generate relative motion relative to the rotating arm, so that the bin door can be driven to rotate according to the first direction (such as anticlockwise). In the second process from the opening state to the closing state, the two bin doors are contacted, and the two rotating arms cannot rotate continuously; and the transmission rod can overcome resistance and continuously rotate according to the first direction, under the condition, the bin door can continuously swing up by means of the parallel four-bar linkage mechanism, and the bin door is driven by the parallel four-bar linkage mechanism to protrude outwards, so that the sealing and waterproof functions can be realized while the appearance gap between the two bin doors is compensated. Optionally, the bin gate can be provided with a sealing strip, the bin gate can swing up to extrude the sealing strip, and the sealing and waterproof performance between the two bin gates is improved.
In an alternative embodiment of the present application, a spring mechanism may be connected between the rotating arm and the door. The elastic force of the spring mechanism can make the bin door be pulled to be at the lowest position of swinging, so that the bin door can be rotated in the first process. In the first process, the rotation resistance does not exceed the elastic force of the spring, the spring is not deformed, and the spring can be moved without breaking the rotation movement. In the second process, the rotation resistance exceeds the elastic force of the spring, the spring is deformed (stretched), the spring can destroy the motion state of the rotation motion, the rotation motion is finished, and the bin door swings outwards under the driving of the parallel four-bar linkage mechanism, so that the outward convex effect is realized.
According to one embodiment, in the closing process of the bin door, the driving force of the three-hinge-point power mechanism can be greater than the sum of the rotation resistance of the rotating arm, the gravity of the bin door and the elastic force of the spring mechanism, and the elastic force is greater than the rotation resistance, so that under the condition that the bin door rotates, the steel wire rope trigger mechanism can not be triggered, and the bin door is at the lowest position of swinging and lifting; under the condition that the bin gates are in contact with the limiting blocks, the two bin gates are in contact, the rotating resistance can be larger than the elastic force, the steel wire rope trigger mechanism is triggered, the transmission pulley drives the steel wire rope trigger mechanism to move, namely, the parallel four-bar mechanism corresponding to the bin gates is driven to swing and rotate, and the bin gates swing and rise to form an outward convex motion.
According to another embodiment, in the opening process of the bin door, the three-hinge-point power mechanism drives the transmission pulley of the constant-speed reverse rotation device to rotate, and the whole device moves towards the direction with the minimum resistance; under the condition that the bin doors are recessed to the limiting blocks, the swinging and rotating motion is finished, the bin doors start to rotate, and the two bin doors rotate towards two sides.
In one embodiment of the present application, the spring mechanism may include: a first spring connector, a spring and a second spring connector;
the first spring connecting piece is installed on the door connecting piece of the bin door, the spring is connected between the first spring connecting piece and the second spring connecting piece, and the second spring connecting piece is installed on the rotating arm.
In an alternative embodiment of the present application, the rotating arm may be provided with a buffer sleeve at a corresponding position of the parallel four-bar linkage. The buffer sleeve can play a role in limiting the parallel four-bar linkage, so that the bin gate cannot rotate downwards.
In an optional embodiment of the present application, the apparatus may further comprise: the trigger rod, the limit switch and the power supply control device; the trigger rod is located at an output node of the transmission device, and if the trigger rod touches the limit switch, the power supply control device cuts off a power supply circuit of the power device so as to stop the power device.
To sum up, the door controlgear of this application embodiment because transmission can drive rotary device rotatory, can be so that above-mentioned door is rotatory, forms the arc orbit, consequently can be applicable to the storehouse that door arc orbit corresponds, for example the storehouse of special-shaped outward appearance such as circular, oval.
In addition, the transmission device of the embodiment of the application drives the two rotating devices to rotate in the same direction and in the opposite directions, so that the two bin doors can rotate in the same direction and in the opposite directions, and the synchronous effect (synchronous door closing effect or synchronous door opening effect) of the two bin doors can be realized.
In addition, the rotating arm of the embodiment of the application and the corresponding bin gate can form a parallel four-bar linkage. The parallel four-bar linkage specifically includes: two fixed hinge points and two movable hinge points, and the bin gate can rotate or swing around the two fixed hinge points. The parallel four-bar linkage mechanism can realize the inward recess of the bin door, and because the rotation of the bin door can be realized in the inward recess state of the bin door, the opening/closing of the bin door can be realized in the interior without occupying the external space, so that the parallel four-bar linkage mechanism can be suitable for the scene of the storage robot to open/close the bin door in the interior of the storage robot.
Further, under the condition that the rotary motion of the bin door is finished, the bin door can continuously swing and lift by means of the parallel four-bar linkage mechanism, and the bin door protrudes outwards under the driving of the parallel four-bar linkage mechanism, so that the sealing and waterproof functions can be realized while the appearance gap between the two bin doors is compensated.
The embodiment of the application can be applied to the warehouse with the special-shaped appearance such as a round appearance, an oval appearance and the like in the warehousing scene, the warehouse in the robot warehousing scene is introduced through a specific example, and the warehouses in other warehousing scenes can be referred to one another.
Referring to fig. 1, an application diagram of a cargo compartment on a robot chassis according to an embodiment of the present disclosure is shown, and referring to fig. 2 and fig. 3, a schematic perspective structure diagram of the cargo compartment according to an embodiment of the present disclosure is shown, where the cargo compartment may include: the first door 1 and the second door 2 that set up relatively are provided with dress trim cover 3 on the second door 2, and dress trim cover 3 can play the decorative effect. The cargo compartment may comprise: the rib 4, rib 4 can play the effect of blockking to the goods such as parcel, prevents that the goods from falling out from the warehouse.
Referring to fig. 4, fig. 5, and fig. 6, they are schematic perspective views of a cargo compartment according to an embodiment of the present application.
In fig. 4, the first bin door 1 is mounted on the first door connector 24 and the second door connector 31, and the first door connector 24 and the second door connector 31 are coplanar with the mounting surface of the first bin door 1.
The rotating arm and the corresponding bin gate of the embodiment of the application form a parallel four-bar linkage. For example, the first rotating arm 10 and the first bin gate 1 form a first parallel four-bar linkage. The first parallel four-bar linkage specifically includes: two fixed hinge points (a, c) and two movable hinge points (b, d), and the first door 1 can rotate or swing around the two fixed hinge points (a, c).
The principle of the first parallel four-bar linkage mechanism may be as follows: for the first door connector 24 and the second door connector 31 corresponding to the first bin door 1, the method specifically comprises the following steps: a first end hinged to the first bin door 1 and a second end hinged to the first rotating arm 10 by door links (first door link 22 and second door link 30).
The first parallel four-bar linkage mechanism can realize the inward recess of the first bin door 1, and the rotation of the bin door can be realized in the inward recess state of the first bin door 1, so that the opening/closing of the first bin door 1 can be realized in the interior, and the external space can not be occupied, so that the parallel four-bar linkage mechanism can be suitable for the scenes of the warehousing robot to open/close the first bin door 1 in the interior of the warehousing robot.
The second door 2 is similar in structure to the first door 1. In fig. 5, the second door 2 is mounted on the third and fourth door connectors 43 and 50, and the third and fourth door connectors 43 and 50 are coplanar with the mounting surface of the second door 2.
The second rotating arm 9 and the second bin gate 2 form a second parallel four-bar linkage. The second parallel four-bar linkage specifically includes: two fixed hinge points (e, g) and two movable hinge points (f, h), while the second door 2 can rotate or swing around the two fixed hinge points (e, g).
For the hinge points a, b, c, d, e, f, g and h, there may be a first pin 20, a second pin 23, a third pin 29, a fourth pin 32, a fifth pin 39, a sixth pin 41, a seventh pin 47 and an eighth pin 48, respectively.
In fig. 4 and 5, the constant-speed counter-rotating device 8 can realize counter-rotating motion of two pulleys (a first transmission pulley and a second transmission pulley), and the first shift lever 11 and the second shift lever 33 are respectively mounted on the first transmission pulley and the second transmission pulley of the constant-speed counter-rotating device 8, so that the constant-speed counter-rotating motion of the first shift lever 11 and the second shift lever 33 can be realized, and the constant-speed counter-rotating motion is symmetrical to the central plane of the warehouse.
Optionally, the transmission pulley drives the rotating arm to rotate through a steel wire rope triggering mechanism. The steel wire rope triggering mechanism specifically comprises: a wire rope and a wire rope adjuster. In fig. 4, the left wire rope adjusting member 12 is hinged to the first shift lever 11, the tail of the left wire rope 17 passes through the center hole of the left wire rope adjusting member 12, is tangent to the fourth pulley 19 after being tangent to and wound around the third pulley 15, and the left pin 18 is used for fastening the fourth pulley 19. Finally, the left steel wire rope pressing piece 21 presses the first door connecting piece 24, namely the head of the left steel wire rope 17 is positioned on the first shift lever 11, and the tail of the left steel wire rope is positioned on the first bin door 1.
In fig. 5, the right cable adjusting member 34 is hinged to the second lever 33, the tail of the right cable 36 passes through the center hole of the right cable adjusting member 34, is tangent to the sixth pulley 37 after being tangent to the fifth pulley 35, and the right pin 38 is used for fastening the sixth pulley 37. Finally, the right cable pressing member 40 presses the third door connecting member 43, that is, the head of the right cable 36 is located on the second shift lever 33, and the tail is located on the second door 2.
A first spring mechanism may be connected between the first rotating arm 10 and the first bin gate 1. In fig. 4, the first spring mechanism may include: a first spring connector 25, a first spring 26 and a second spring connector 27; the first spring connector 25 is installed on the first door connector 24 of the first bin door 1, the first spring 26 is connected between the first spring connector 25 and the second spring connector 26, and the second spring connector 27 is installed on the first rotating arm 10.
A second spring mechanism may be connected between the second rotating arm 9 and the second bin gate 2. In fig. 5, the second spring mechanism may include: a third spring connector 44, a second spring 45 and a fourth spring connector 46; the third spring connector 44 is installed on the third door connector 43 of the second bin door 2, the second spring 45 is connected between the third spring connector 44 and the fourth spring connector 46, and the fourth spring connector 46 is installed on the second rotating arm 9.
The motion process of the bin gate from the open state to the closed state comprises the following steps: a first process and a second process. Referring to fig. 7A, a schematic structural view of a cargo compartment provided in an embodiment of the present disclosure in an open state of a compartment door, and referring to fig. 7B, a schematic structural view of a cargo compartment provided in an embodiment of the present disclosure in a closed state of a compartment door, so that a motion process of the compartment door in the embodiment of the present disclosure from the open state to the closed state changes from the state shown in fig. 7A to the state shown in fig. 7B.
The elastic force of the first spring mechanism or the second spring mechanism can make the first door or the second door be pulled to be at the lowest swinging position, so that the first door or the second door can rotate in the first process. In the first process, the rotation resistance does not exceed the elastic force of the spring, the spring is not deformed, and the spring can be moved without breaking the rotation movement. In the second process, the rotation resistance exceeds the elastic force of the spring, the spring deforms (stretches), the spring can destroy the motion state of the rotation motion, the rotation motion is finished, and the first bin door or the second bin door swings outwards under the driving of the parallel four-bar linkage mechanism, so that the outward protruding effect is realized.
The constant-speed reverse rotation device 8 can be driven by a push rod motor 7, a tail hinge point of the push rod motor 7 is installed on a tail end hinge seat 6, and the tail end hinge seat 6 is installed on the cargo bin structure 5; the head of the push rod motor 7 is hinged on a motor connecting part 53 through a motor pin shaft 52, and the motor connecting part 53 is arranged on an upper pulley of the constant-speed reverse rotation device 8; the tail hinge point, the head hinge point and the center of the transmission pulley (i.e. the first transmission pulley or the second transmission pulley) of the constant-speed reverse rotation device 8 of the push rod motor 7 form a three-hinge-point power mechanism, and under the condition that the push rod motor 7 extends, the first shift lever 11 will rotate along with the first transmission pulley of the constant-speed reverse rotation device 8 in the counterclockwise direction, and simultaneously the right shift lever 33 will rotate along with the second transmission pulley of the constant-speed reverse rotation device 8 in the clockwise direction.
Under the condition that the push rod motor 7 extends, the first driving lever 11 rotates anticlockwise, at the moment, the first driving lever 11 does not generate relative motion relative to the first rotating arm 10, the first bin gate 1 can be driven to rotate anticlockwise, and meanwhile, the second bin gate 2 synchronously rotates clockwise under the action of the constant-speed reverse rotation device 8, and the speed is the same as that of the first bin gate 1.
Referring to fig. 8A, 8B, 8C and 8D, positions of the bin gate provided in the embodiment of the present application are respectively shown, and referring to fig. 9A, 9B, 9C and 9D, positions of the rotating arm provided in the embodiment of the present application are respectively shown. Wherein, when the first bin gate 1 and the second bin gate 2 are at the positions of fig. 8A and fig. 9A and pass through the positions of fig. 8B and fig. 9B, and the first bin gate 1 and the second bin gate 2 can both perform constant-speed reverse rotation movement in the process of rotating to fig. 8C and fig. 9C, the rotation axes are the same axis; in the positions shown in fig. 8C and fig. 9C, the first bin door 1 and the second bin door 2 both rotate to the center of the cargo bin, and the first bin door 1 contacts with the second bin door 2, so that the first bin door 1 and the second bin door 2 cannot rotate continuously, and the first rotating arm 10 and the second rotating arm 9 cannot rotate continuously. If the push rod motor 7 continues to extend, the first shift lever 11 continues to rotate counterclockwise by overcoming the elastic force of the first spring 26 through the left wire rope 17, the first door connecting member 24 and the first spring connecting member 25, and the second shift lever 33 can rotate clockwise at a constant speed; the first bin gate 1 rotates around the hinge points a and c through the first gate connector 24 and the second gate connector 31; meanwhile, the second bin gate 2 rotates around the hinge points f and g through the third gate connecting piece 43 and the fourth gate connecting piece 50; in the process, as the movement process of fig. 8C, 9C to 8D, 9D, the first bin gate 1 and the second bin gate 2 swing up synchronously, so that the corresponding inner wall of the shell can be extruded while the appearance gap is compensated, and the waterproof effect is realized.
As shown in fig. 6, when the trigger lever 55 touches the door closing limit switch 56, an electrical signal is provided to cut off the power supply circuit of the push rod motor 7, so that the push rod motor 7 stops extending, and the first and second doors 1 and 2 stop moving, thereby achieving the effects of appearance compensation and waterproofing.
For the cargo compartment shown in fig. 2 to 6, during the movement of the compartment door from the closed state to the open state, the push rod motor 7 shortens, the first lever 11 rotates clockwise, and the second lever 33 rotates counterclockwise in synchronization. The movement process of the bin gate from the closed state to the open state may include: in the third process and the fourth process, the bin gate does swinging and descending motion in the third process, and the bin gate does rotating motion in the fourth process.
In the process of closing the bin gate, the power transmitted from the three-hinge-point power mechanism realizes the constant-speed reverse rotation motion of two transmission pulleys of the constant-speed reverse rotation device, and the transmission pulleys drive the rotating arm to rotate through the steel wire rope triggering mechanism; the driving force of the power mechanism is greater than the sum of the rotation resistance, the bin door gravity and the spring elasticity, and the spring elasticity is greater than the rotation resistance of the rotating arm at the moment, so that under the condition of bin door rotation, the steel wire rope trigger mechanism is not triggered, the bin door is always at the lowest position of swinging and lifting, the bin door is in contact with the limiting block, when the two bin doors rotate to the tail end, the two bin doors are in contact, the rotation resistance is greater than the spring elasticity, the equipment cannot perform the rotation motion again, at the moment, the steel wire rope trigger mechanism is triggered, the transmission pulley drives the steel wire rope to move through the deflector rod, namely, the parallel four-bar mechanism corresponding to the bin door is driven to swing and.
This application embodiment is at the in-process of door of opening a warehouse, and three hinge point power unit drive constant speed reverse rotation device's transmission pulley is rotatory, and is whole to the direction motion that the resistance is minimum, and the equipment is preferred to be carried out the rotation of four parallel bars and is fallen the motion, and the door is driven the indent, and when door indent to stopper, swing rotary motion finishes, and door beginning rotary motion, two door can rotate and run from opposite directions, rotate to both sides.
It can be understood that the movement principle of the second door 2 is similar to the movement principle of the first door 1, and the movement process of the door from the closed state to the open state is similar to the movement process of the door from the open state to the closed state, so that the detailed description is omitted and the reference may be made to each other.
The embodiment of the present application does not limit the specific implementation manner of the constant-speed counter-rotating device 8. According to an embodiment, the implementation of the constant velocity counter rotating device 8 may comprise: the gear transmission mode has the advantage of high precision, but the manufacturing cost is higher due to higher manufacturing and mounting precision
According to another embodiment, the implementation of the constant-velocity counter-rotating device 8 may include: double pulley transmission mode. Accordingly, the constant-speed counter rotating device 8 may include:
the transmission device comprises a first transmission pulley and a second transmission pulley, wherein the first transmission pulley and the second transmission pulley are coaxially arranged and have the same diameter;
a third pulley and a fourth pulley; and
a first linker and a second linker;
two ends of the first connecting object are respectively fixed on the first transmission pulley and the second transmission pulley, and two ends of the second connecting object are respectively fixed on the first transmission pulley and the second transmission pulley; the middle of the first link is wound around the third pulley or the fourth pulley; the middle of the second link passes around the third pulley or the fourth pulley.
In the winding path of the first link, the directions of the path segments occupied by the first transmission pulley and the second transmission pulley may be a third direction and a fourth direction, respectively; in the winding path of the second link, the directions of the path segments occupied by the first transmission pulley and the second transmission pulley may be the fourth direction and the third direction, respectively; the third direction is opposite the fourth direction.
The constant-speed reverse rotation device 8 winds the first connecting object and the second connecting object on the first transmission pulley and the second transmission pulley, and in the winding path of each connecting object, the direction of the path segments occupied by the first transmission pulley and the second transmission pulley is opposite, so that the reverse rotation of the first transmission pulley and the second transmission pulley can be realized through the length change of the first connecting object and the second connecting object wound on the first transmission pulley and the second transmission pulley.
In the embodiment of the present application, the winding path of the link may refer to a route from a starting point to an end point. One linker may have one end as a starting point and the other end as an end point. It is understood that either end of the link can be used as a starting point, and the embodiments of the present application mainly use one end as an example for description, and the other end as a starting point may be referred to each other, and the embodiments of the present application do not impose any limitation on the specific starting point and ending point.
In the constant-speed counter-rotating device 8, the diameters of the first transmission pulley and the second transmission pulley can be respectively D1And D2The angular velocities can be represented by ω1And ω2Linear velocities are indicated by V1And V2To indicate the rotational speeds are respectively N1And N2It is shown that the length of the first link can be varied by Δ L on the first transmission pulley and the second transmission pulley, respectively1And Δ L2Expressed in units of time by Δ T.
Linear velocity V of first and second drive pulleys1And V2Can be expressed as:
angular velocity ω of the first and second transmission pulleys1And ω2Can be expressed as:
rotational speed N of the first and second transmission pulleys1And N2Can be expressed as:
the ratio of the rotational speeds of the first and second transmission pulleys may be expressed as:
in the process of rotating the first transmission pulley and the second transmission pulley, the total length of the first connecting object cannot be changed, so the length change amount delta L of the first connecting object on the first transmission pulley and the second transmission pulley1And Δ L2Are equal, and thus, equation (7) can be expressed as:
as can be seen from the formula (8), the ratio of the rotation speeds of the first transmission pulley and the second transmission pulley is inversely proportional to the ratio of the diameters of the first transmission pulley and the second transmission pulley, so that the diameters of the first transmission pulley and the second transmission pulley are the same, and the constant-speed reverse rotation can be realized.
To sum up, the door controlgear of this application embodiment because transmission can drive rotary device rotatory, can be so that above-mentioned door is rotatory, forms the arc orbit, consequently can be applicable to the storehouse that door arc orbit corresponds, for example the storehouse of special-shaped outward appearance such as circular, oval.
In addition, the transmission device of the embodiment of the application drives the two rotating devices to rotate in the same direction and in the opposite directions, so that the two bin doors can rotate in the same direction and in the opposite directions, and the synchronous effect (synchronous door closing effect or synchronous door opening effect) of the two bin doors can be realized.
The embodiment of the present application further provides a warehousing system, and the warehousing system may specifically include:
a cargo compartment, the cargo compartment may comprise: two oppositely arranged bin gates; and
the aforementioned bin gate control apparatus.
The bin gate control device is used for controlling two bin gates which are oppositely arranged so as to realize the opening/closing of the two bin gates.
The warehouse system of this application embodiment, because transmission among this door controlgear can drive the rotary device rotatory, can be so that above-mentioned door is rotatory, form the arc orbit, consequently can be applicable to the storehouse that the door arc orbit corresponds, for example the storehouse of special-shaped outward appearance such as circular, oval.
Moreover, the transmission device of the embodiment of the application drives the two rotating devices to rotate in the same direction and in the opposite directions, so that the two doors can rotate in the same direction and in the opposite directions, and therefore the synchronous effect (synchronous door closing effect or synchronous door opening effect) of the two doors can be achieved.
In addition, the rotating arm of the embodiment of the application and the corresponding bin gate can form a parallel four-bar linkage. The parallel four-bar linkage specifically includes: two fixed hinge points and two movable hinge points, and the bin gate can rotate or swing around the two fixed hinge points. The parallel four-bar linkage mechanism can realize the inward recess of the bin door, and because the rotation of the bin door can be realized in the inward recess state of the bin door, the opening/closing of the bin door can be realized in the interior without occupying the external space, so that the parallel four-bar linkage mechanism can be suitable for the scene of the storage robot to open/close the bin door in the interior of the storage robot.
Further, under the condition that the rotary motion of the bin door is finished, the bin door can continuously swing and lift by means of the parallel four-bar linkage mechanism, and the bin door protrudes outwards under the driving of the parallel four-bar linkage mechanism, so that the sealing and waterproof functions can be realized while the appearance gap between the two bin doors is compensated.
In an embodiment of the application, the warehouse provided by the embodiment of the invention can be a double-sector swinging lifting door warehouse, the double-sector swinging lifting door warehouse can be carried on different chassis to combine different robots so as to realize a goods storage function, and the double-sector swinging lifting door warehouse can not occupy an external door opening space and solve the problem of door opening of a special-shaped appearance warehouse.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one of skill in the art, embodiments of the present application may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present application are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present application have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the true scope of the embodiments of the application.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The warehouse control equipment and the warehouse system provided by the application are introduced in detail, specific examples are applied in the description to explain the principle and the implementation mode of the application, and the description of the embodiments is only used for helping to understand the method and the core idea of the application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
Claims (14)
1. A bin gate control apparatus for controlling two oppositely disposed bin gates, the apparatus comprising:
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 direction according to the power provided by the power device so as to enable the two bin gates to rotate in the constant speed and reverse direction;
the rotating device includes: the rotating arms and the corresponding bin doors form a parallel four-bar linkage; the parallel four-bar linkage includes: the bin gate rotates or swings according to the two fixed hinge points.
2. The apparatus according to claim 1, wherein the tail hinge point and the head hinge point of the power device and any one of the two transmission pulleys of the transmission device form a three-hinge-point power mechanism, and the power transmitted by the three-hinge-point power mechanism realizes the constant-speed reverse rotation motion of the two transmission pulleys.
3. The apparatus of claim 2, wherein the drive pulley rotates the rotating arm via a wire rope trigger mechanism.
4. The apparatus of claim 3, wherein a spring mechanism is connected between the rotating arm and the door.
5. The apparatus of claim 4, wherein during the closing process of the bin gate, the driving force of the three-hinge-point power mechanism is greater than the sum of the rotation resistance of the rotating arm, the weight of the bin gate and the elastic force of the spring mechanism, and the elastic force is greater than the rotation resistance, so that under the condition of the rotation of the bin gate, the steel wire rope trigger mechanism is not triggered, and the bin gate is at the lowest position of swinging and lifting; under the condition that the bin doors are in contact with the limiting blocks, the two bin doors are in contact, the rotating resistance is larger than the elastic force, the steel wire rope trigger mechanism is triggered, and the transmission pulley drives the steel wire rope trigger mechanism to move, namely drives the parallel four-bar mechanism corresponding to the bin doors to swing and rotate, so that the swinging, lifting and outward protruding movement of the bin doors is realized.
6. The apparatus of claim 4, wherein during the opening process of the bin gate, the apparatus is driven by the three-hinge-point power mechanism to perform the swing and rotation movement of the parallel four bars, and the bin gate is driven to be concave; under the condition that the bin doors are recessed to the limiting blocks, the swinging and rotating motion is finished, the bin doors start to rotate, and the two bin doors rotate towards two sides.
7. The apparatus of claim 1, wherein the door has two corresponding door connectors, a first end of the door connector is hinged to the door, and a second end of the door connector is hinged to the rotating arm through a door link.
8. The apparatus of claim 4, wherein the spring mechanism comprises: a first spring connector, a spring and a second spring connector;
the first spring connecting piece is installed on the door connecting piece of the bin door, the spring is connected between the first spring connecting piece and the second spring connecting piece, and the second spring connecting piece is installed on the rotating arm.
9. The apparatus according to claim 1, wherein the rotating arms are provided with cushion sleeves at corresponding positions of the parallel four-bar linkage.
10. The apparatus of any of claims 1 to 9, wherein the transmission comprises: a first drive pulley and a second drive pulley; the first transmission pulley and the second transmission pulley are coaxially arranged and have the same diameter, so that the constant-speed reverse rotation of the first transmission pulley and the constant-speed reverse rotation of the second transmission pulley are realized; any one of the first transmission pulley and the second transmission pulley is connected with the power device;
the rotating device includes: a transmission rod;
the two transmission rods are respectively arranged on the first transmission pulley and the second transmission pulley and are respectively connected with different bin doors.
11. The apparatus of claim 3, wherein the wireline trigger mechanism comprises: a wire rope and a wire rope adjusting member;
the wire rope adjusting piece is hinged to the transmission rod, the tail portion of the wire rope penetrates through a center hole of the wire rope adjusting piece, is tangent to the fourth pulley after being tangent to and wound on the third pulley, and is pressed on the door connecting piece of the bin door.
12. The apparatus of any of claims 1 to 9, further comprising: the trigger rod, the limit switch and the power supply control device;
the trigger rod is located at an output node of the transmission device, and if the trigger rod touches the limit switch, the power supply control device cuts off a power supply circuit of the power device.
13. The apparatus according to any one of claims 1 to 9, wherein the tail hinge point of the power means is mounted on a terminal hinge mount mounted above the cargo compartment in which the door is located;
the head of the power device is hinged on the connecting piece of the power device.
14. A warehousing system, comprising:
a cargo compartment comprising: two oppositely arranged bin gates; and
a door control apparatus as claimed in any one of claims 1 to 13.
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| CN201810488590.5A CN110512983B (en) | 2018-05-21 | 2018-05-21 | Warehouse door control equipment and warehouse system |
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| CN201810488590.5A CN110512983B (en) | 2018-05-21 | 2018-05-21 | Warehouse door control equipment and warehouse system |
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| CN110512983A CN110512983A (en) | 2019-11-29 |
| CN110512983B true CN110512983B (en) | 2021-05-28 |
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| 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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| 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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