CN110550364A - Door opening and closing device of storage box and opening and closing control method thereof - Google Patents
Door opening and closing device of storage box and opening and closing control method thereof Download PDFInfo
- Publication number
- CN110550364A CN110550364A CN201910818460.8A CN201910818460A CN110550364A CN 110550364 A CN110550364 A CN 110550364A CN 201910818460 A CN201910818460 A CN 201910818460A CN 110550364 A CN110550364 A CN 110550364A
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- China
- Prior art keywords
- module
- opening
- door
- closing
- door opening
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
Abstract
The invention discloses a bin gate opening and closing device of a storage box, which comprises a gate opening module, a detection module and a driving module, wherein the gate opening module is used for opening a bin gate; the detection module is used for detecting the position of the bin door, the door opening module is used for reading the detection information of the detection module in real time after receiving a switch instruction and setting the switch time and the switch action, and the driving module is used for completing the door opening action; the detection module is also used for detecting a current fluctuation value in the driving module and a weight change value of the bin gate in real time, and when the current fluctuation value is greater than a first preset value and/or the weight change value is greater than a second preset value, the driving module is closed and started in a delayed mode. The invention also discloses an opening and closing control method of the bin gate opening and closing device for the storage box. The invention has the beneficial effects that: the current detection through the driving module, the weight detection of the bin door and the detection of the opening and closing time carry out triple anti-pinch protection on the switch of the bin door, so that people or articles can be effectively prevented from being pinched by the bin door, and the safety performance of the goods bin is effectively improved.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of robots, in particular to a bin gate opening and closing device of a storage box and an opening and closing control method of the bin gate opening and closing device.
[ background of the invention ]
With the progress of science and technology and the improvement of labor cost, robot equipment is rapidly developed, such as intelligent carrying equipment for goods distribution in buildings. At present, intelligent haulage equipment all reduces the input of manpower through intelligent operation, and the storing box of such intelligent haulage equipment also is automatic when carrying out article handing-over, consequently is especially important in order to prevent that the door of storing box from pressing from both sides wounded user's hand. In prior art, the anti-pinch function of storing box is realized through the output of control motor, and it is specific that the output shaft of motor can break away from with the door of storing box under the effect of external force to reach the function of preventing pinching, safeguard measure is single, produces easily and prevents the pinch inefficacy.
In view of the above, it is desirable to provide a door opening and closing device of a storage box and a door opening and closing control method thereof to overcome the above-mentioned drawbacks.
[ summary of the invention ]
The invention aims to provide a bin gate opening and closing device of a storage box and an opening and closing control method thereof, aiming at improving the anti-clamping function of the storage box and further improving the safety performance of the storage box.
In order to achieve the aim, the invention provides a bin gate opening and closing device of a storage box, which comprises a gate opening module, a detection module and a driving module, wherein the gate opening module is used for opening a bin gate; the detection module is used for detecting the position of a bin door, the door opening module is used for reading detection information of the detection module in real time after receiving a switch instruction, the door opening module sets the switch time and the switch action required by completing the switch instruction according to the detection information, and the driving module completes the door opening action under the control of the door opening module; the detection module is further used for detecting a current fluctuation value in the driving module and a weight change value of the door in real time when the opening and closing action is executed, and the door opening module is used for closing the driving module and starting the driving module in a delayed mode when the current fluctuation value is read from the detection module to be larger than a first preset value and/or the weight change value is larger than a second preset value.
In a preferred embodiment, the detection module comprises a potentiometer for door position detection, a current sensor for current detection in the drive module and a weight sensor for door weight detection.
In a preferred embodiment, the detection module further comprises two contact switches, wherein one contact switch is used for sending an open-position signal to the door opening module after the door reaches the open door position, and the other contact switch is used for sending a close-position signal to the door opening module after the door reaches the close door position.
In a preferred embodiment, after the switching time is reached, the door opening module is configured to close the driving module and delay to start the driving module when the door opening signal or the door closing signal is not received.
In a preferred embodiment, the door opening module includes a control unit and a timing unit, the control unit is configured to read the detection information of the detection module and set the switch action after receiving the switch instruction, and the timing unit is configured to set the switch time and the time for delayed starting; the timing unit sends an overtime signal to the control unit when the switching time is up and sends a restart signal to the control unit when the time of delayed starting is up, the control unit detects whether the in-place opening signal or the in-place closing signal is received or not after receiving the overtime signal, and the control unit restarts the driving module after receiving the restart signal.
In a preferred embodiment, the door opening module further includes a storage unit, and the storage unit is configured to store the first preset value and the second preset value.
In a preferred embodiment, the door opening device comprises a power supply assembly, and the door opening module is used for supplying power to the door opening module, the detection module and the driving module.
In a preferred embodiment, the driving module includes a driver and a driving motor, the driver is configured to convert the opening and closing action set by the door opening module into a driving signal, and the driving motor drives the door to move under the control of the driving signal.
the invention also provides an opening and closing control method for the bin gate opening and closing device of the storage box, which comprises the following steps:
Step S1, detecting the current position of the bin gate after receiving the switching instruction;
Step S2, setting the switching time and the switching action for completing the switching instruction;
Step S3, starting the driving module to execute the switch action;
Step S4, detecting whether the current fluctuation value of the driving module is larger than a first preset value, if so, closing the driving module, delaying for a period of time, returning to the step S3, and if not, directly entering the step S5;
Step S5, detecting whether the weight change value of the bin gate is larger than a second preset value, if so, closing the driving module, delaying for a period of time, returning to the step S3, otherwise, directly entering the step S6;
And S6, detecting whether the bin gate reaches a switch position corresponding to the switch command after the switch time is reached, if not, closing the driving module, delaying for a period of time, returning to the step S3, and if so, closing the driving module and completing the switch command.
According to the bin gate opening and closing device of the storage box and the opening and closing control method of the bin gate opening and closing device, triple anti-pinch protection is performed on the opening and closing of the bin gate through the current detection of the driving module, the weight detection of the bin gate and the detection of the opening and closing time, people or articles can be effectively prevented from being pinched by the bin gate, and the safety performance of the storage box is further effectively improved.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
[ description of the drawings ]
FIG. 1 is a schematic signal connection diagram of a bin gate opening and closing device of a storage box according to the present invention;
Fig. 2 is a flowchart of an opening and closing control method of the bin gate opening and closing device of the storage box shown in fig. 1.
[ detailed description ] embodiments
In order to make the objects, technical solutions and advantageous effects of the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and the detailed description. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
referring to fig. 1, the door opening and closing device 100 for a storage box according to the present invention is used for opening or closing a door of the storage box, and is mainly used for preventing the door of the storage box from clamping a user or articles entering or exiting the storage box during the opening and closing process, so as to prevent the user or the articles from being damaged by the clamping.
In an embodiment of the present invention, the bin gate opening and closing device 100 of the storage box includes a gate opening module 10, a detection module 20 and a driving module 30; the detection module 20 is used for detecting the position of the bin gate, the door opening module 10 is used for reading the detection information of the detection module 20 after receiving the opening and closing instruction, the door opening module 10 sets the opening and closing time and the opening and closing action required for completing the opening and closing instruction according to the detection information, and the driving module 30 drives the bin gate to move according to the opening and closing action set by the door opening module 10; the detection module 20 is further configured to detect a current fluctuation value in the driving module 30 and a weight change value of the door in real time when the opening and closing operation is performed, and the detection module 20 turns off the driving module 30 and starts the driving module 30 in a delayed manner when the current fluctuation value is greater than a first preset value and/or the weight change value is greater than a second preset value, so as to continue to complete the opening and closing operation through the driving module 30 after eliminating the abnormality that the current fluctuation and the weight change are generated by using the time for delayed start.
Specifically, the detection module 20 includes a potentiometer 201 for detecting the position of the door, a current sensor 202 for detecting the current in the driving module 30, and a weight sensor 203 for detecting the weight of the door, and the door opening module 10 can determine the position of the door by reading the voltage value of the potentiometer 201 and obtain the current fluctuation value and the weight variation value of the driving module 30 by reading the detection values of the current sensor 202 and the weight sensor 203. It can be understood that, obtain the positional information of door through potentiometre 201, simple structure is convenient and do benefit to manufacturing, can reduce the manufacturing cost of storing box, and when having article in the door to hinder the removal of door, the electric current can produce great fluctuation in drive module 30, the weight of door also can produce certain change simultaneously, discovery door that so can be timely through setting for first default and second default is blockked by the barrier, have article in the door to be cliped, on the one hand, can avoid drive module 30 to be burnt out, on the other hand can avoid the door to clip the barrier that corresponds (for example, avoid getting the people or article of putting article in the storing box and being clipped).
In this embodiment, in order to prevent people or articles from being pinched by the door when neither the current sensor 202 nor the weight sensor 203 detects an obstacle, the detection module 20 further includes two contact switches 204, wherein one contact switch 204 is used to detect whether the door is in the door opening position and send an open position signal to the door opening module 10 after the door reaches the door opening position, and the other contact switch 204 is used to detect whether the door is in the door closing position and send a close position signal to the door opening module 10 after the door reaches the door closing position. It can be understood that when the door is blocked, the opening and closing time of the door is prolonged, and thus after the opening and closing time set by the door opening module 10 is reached, the door opening module 10 turns off the driving module 30 and delays to start the driving module 30 when not receiving the in-place opening signal or the in-place closing signal, so as to continue to complete the opening and closing action through the driving module 30 after eliminating the abnormality causing the delay of the opening and closing time by using the delayed starting time.
The door opening module 10 includes a control unit 101, a timing unit 102 and a storage unit 103, the control unit 101 is configured to read detection information of the detection module 20 and set a switching action after receiving a switching instruction, the storage unit 103 is configured to store a first preset value and a second preset value, the timing unit 102 is configured to set a switching time and a time for delayed starting, the timing unit 102 sends an overtime signal to the control unit 101 when the switching time arrives and sends a restart signal to the control unit 101 when the time for delayed starting arrives, the control unit 101 detects whether an on-position signal or an off-position signal is received after receiving the overtime signal, and the control unit 101 restarts the driving module 30 after receiving the restart signal. In this embodiment, the control unit 101 completes the door opening and closing operation when receiving the corresponding door opening signal or door closing signal, and in this process, the control unit 101 turns off the driving module 30 and starts the driving module 30 in a delayed manner when reading that the current fluctuation value is greater than the first preset value, or when reading that the weight change value is greater than the second preset value, or when receiving an overtime signal, so as to remove the obstacle blocking the door, thereby preventing the door from clamping the accident of hurting people or objects, and improving the safety performance of the storage box.
the driving module 30 includes a driver and a driving motor, the driver is used for converting the switch action set by the door opening module 10 into a driving signal, the driving motor drives the door to move under the control of the driving signal, and the driving motor is a servo motor or a stepping motor to accurately control the moving process of the door. In this embodiment, the bin gate opening and closing device 100 of the storage box further includes a power supply assembly for supplying power to the door opening module 10, the detection module 20, and the driving module 30.
In summary, the door opening and closing device 100 of the storage box provided by the invention performs triple anti-pinch protection on the opening and closing of the door through the current detection of the driving module 30, the weight detection of the door and the detection of the opening and closing time, so that people or articles can be effectively prevented from being pinched by the door, and the safety performance of the storage box can be effectively improved.
referring to fig. 2, the present invention further provides a method for controlling the door opening/closing device 100 of the storage box, which includes the following steps:
And step S1, detecting the current position of the bin gate after receiving the opening and closing command. In step S1, the control unit 101 reads the detection information of the detection module 20 after receiving the switch command to acquire the position information of the door and determine whether to perform the door closing operation or the door opening operation. In this embodiment, the switch command may be input to the control unit 101 through an intelligent terminal or a control panel provided on the storage box, or may be input to the control unit 101 through a voice control method.
Step S2, setting the switching time and switching operation for completing the switching command. In step S2, the control unit 101 divides the opening and closing operation into an acceleration process, a constant speed process and a deceleration process, that is, moves the door from the initial position to the opening and closing position corresponding to the opening and closing instruction by first moving the door in an acceleration manner, then moving the door in a constant speed manner and then moving the door in a deceleration manner, and then sets the opening and closing time in the timing module according to the acceleration moving time, the constant speed moving time and the deceleration moving time of the door, that is, the opening and closing time is the sum of the acceleration moving time, the constant speed moving time and the deceleration moving time.
Step S3, the start driving module 30 performs the switching operation. In step S3, the driver in the driving module 30 converts the switching action from the control unit 101 into a driving signal and sends the driving signal to the driving motor, and the driving motor pushes the door to move under the control of the driving signal.
Step S4, detecting whether the current fluctuation value of the driving module 30 is greater than the first preset value, if so, turning off the driving module 30 and returning to step S3 after delaying for a period of time, otherwise, directly entering step S5. In step S4, the current detection is performed on the driving motor to serve as a first anti-pinch measure for the door opening and closing device 100 of the storage box, when the current of the driving motor changes greatly, it indicates that the door cannot move and the driving motor idles, and at this time, the driving motor is turned off to prevent the driving motor from being burnt out by a large current in the first time, and then the person or the article to be pinched is taken out in this time, so that the safety performance can be effectively improved.
Step S5, detecting whether the weight variation value of the bin gate is greater than the second preset value, if yes, closing the driving module 30 and returning to step S3 after delaying for a period of time, otherwise, directly entering step S6. In step S5, the weight of the bin gate is detected as a second anti-pinch measure of the bin gate opening and closing device 100 of the storage box, when the weight of the bin gate changes, it indicates that the bin gate has contacted with a person or an object, and the driving motor is turned off at this moment, so that the bin gate can be effectively prevented from pinching the person or the object, thereby avoiding a safety accident.
And step S6, detecting whether the bin gate reaches a switch position corresponding to the switch instruction after the switch time is reached, if not, closing the driving module 30, delaying for a period of time, returning to the step S3, and if so, closing the driving module 30 and completing the switch instruction. In step S6, whether the door reaches the switch position corresponding to the switch instruction is detected by the two contact switches 204, when the switch time reaches, the door opening module 10 still does not receive the on-position signal or the off-position signal from the contact switches 204, which indicates that there is an article obstructing the movement of the door, and at this time, the driving motor is turned off and the obstruction obstructing the door is removed within this time.
the invention is not limited solely to that described in the specification and embodiments, and additional advantages and modifications will readily occur to those skilled in the art, so that the invention is not limited to the specific details, representative apparatus, and illustrative examples shown and described herein, without departing from the spirit and scope of the general concept as defined by the appended claims and their equivalents.
Claims (9)
1. The bin gate opening and closing device of the storage box is characterized by comprising a door opening module, a detection module and a driving module; the detection module is used for detecting the position of a bin door, the door opening module is used for reading detection information of the detection module in real time after receiving a switch instruction, the door opening module sets the switch time and the switch action required by completing the switch instruction according to the detection information, and the driving module completes the door opening action under the control of the door opening module; the detection module is further used for detecting a current fluctuation value in the driving module and a weight change value of the door in real time when the opening and closing action is executed, and the door opening module is used for closing the driving module and starting the driving module in a delayed mode when the current fluctuation value is read from the detection module to be larger than a first preset value and/or the weight change value is larger than a second preset value.
2. the door opening and closing device of a storage box according to claim 1, wherein the detection module comprises a potentiometer for detecting the position of the door, a current sensor for detecting the current in the driving module, and a weight sensor for detecting the weight of the door.
3. The door opening and closing device of a storage box according to claim 2, wherein the detection module further comprises two contact switches, one of which is used for sending an open-to-position signal to the door opening module after the door reaches the open-door position, and the other of which is used for sending a close-to-position signal to the door opening module after the door reaches the close-door position.
4. The door opening and closing device of the storage box as claimed in claim 3, wherein after the opening and closing time is reached, the door opening module is configured to close the driving module and delay the driving module when the opening-to-position signal or the closing-to-position signal is not received.
5. The door opening and closing device of the storage box according to claim 4, wherein the door opening module comprises a control unit and a timing unit, the control unit is used for reading the detection information of the detection module and setting the opening and closing actions after receiving the opening and closing command, and the timing unit is used for setting the opening and closing time and the time for delayed starting; the timing unit sends an overtime signal to the control unit when the switching time is up and sends a restart signal to the control unit when the time of delayed starting is up, the control unit detects whether the in-place opening signal or the in-place closing signal is received or not after receiving the overtime signal, and the control unit restarts the driving module after receiving the restart signal.
6. The bin gate opening and closing device according to claim 5, wherein the door opening module further comprises a storage unit for storing the first preset value and the second preset value.
7. The bin gate opening and closing device for the storage box according to claim 1, comprising a power supply assembly, wherein the door opening module is used for supplying power to the door opening module, the detection module and the driving module.
8. The door opening and closing device of a storage box according to claim 1, wherein the driving module comprises a driver and a driving motor, the driver is used for converting the opening and closing actions set by the door opening module into driving signals, and the driving motor drives the door to move under the control of the driving signals.
9. A switch control method of a bin gate switch device of a storage box is characterized by comprising the following steps:
Step S1, detecting the current position of the bin gate after receiving the switching instruction;
Step S2, setting the switching time and the switching action for completing the switching instruction;
Step S3, starting the driving module to execute the switch action;
Step S4, detecting whether the current fluctuation value of the driving module is larger than a first preset value, if so, closing the driving module, delaying for a period of time, returning to the step S3, and if not, directly entering the step S5;
step S5, detecting whether the weight change value of the bin gate is larger than a second preset value, if so, closing the driving module, delaying for a period of time, returning to the step S3, otherwise, directly entering the step S6;
And S6, detecting whether the bin gate reaches a switch position corresponding to the switch command after the switch time is reached, if not, closing the driving module, delaying for a period of time, returning to the step S3, and if so, closing the driving module and completing the switch command.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910818460.8A CN110550364A (en) | 2019-08-30 | 2019-08-30 | Door opening and closing device of storage box and opening and closing control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910818460.8A CN110550364A (en) | 2019-08-30 | 2019-08-30 | Door opening and closing device of storage box and opening and closing control method thereof |
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| CN110550364A true CN110550364A (en) | 2019-12-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910818460.8A Pending CN110550364A (en) | 2019-08-30 | 2019-08-30 | Door opening and closing device of storage box and opening and closing control method thereof |
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| CN113241978A (en) * | 2021-05-21 | 2021-08-10 | 北京云迹科技有限公司 | Control method of bin gate motor and related equipment |
| CN113467299A (en) * | 2021-06-28 | 2021-10-01 | 青岛海尔科技有限公司 | Equipment door control method and device, storage medium and electronic device |
| CN113566503A (en) * | 2020-01-19 | 2021-10-29 | 浙江衣拿智能科技股份有限公司 | Conveying system with automatic control dryer and control method of dryer |
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Application publication date: 20191210 |
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