CN116122694A - Anti-pinch protection device for opening and closing door of mobile vending service robot - Google Patents
Anti-pinch protection device for opening and closing door of mobile vending service robot Download PDFInfo
- Publication number
- CN116122694A CN116122694A CN202111348356.0A CN202111348356A CN116122694A CN 116122694 A CN116122694 A CN 116122694A CN 202111348356 A CN202111348356 A CN 202111348356A CN 116122694 A CN116122694 A CN 116122694A
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- China
- Prior art keywords
- door plate
- door
- detection switch
- hinged
- metal detection
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 claims abstract description 75
- 239000002184 metal Substances 0.000 claims abstract description 50
- 239000004020 conductor Substances 0.000 claims abstract description 15
- LAXBNTIAOJWAOP-UHFFFAOYSA-N 2-chlorobiphenyl Chemical compound ClC1=CC=CC=C1C1=CC=CC=C1 LAXBNTIAOJWAOP-UHFFFAOYSA-N 0.000 claims description 6
- 101710149812 Pyruvate carboxylase 1 Proteins 0.000 claims description 6
- 238000007789 sealing Methods 0.000 claims description 4
- KKQWHYGECTYFIA-UHFFFAOYSA-N 2,5-dichlorobiphenyl Chemical compound ClC1=CC=C(Cl)C(C=2C=CC=CC=2)=C1 KKQWHYGECTYFIA-UHFFFAOYSA-N 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 230000006378 damage Effects 0.000 description 3
- 208000014674 injury Diseases 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 206010061225 Limb injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Images
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
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
- E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
-
- 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
- E05F15/40—Safety devices, e.g. detection of obstructions or end positions
-
- 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
- E05F15/40—Safety devices, e.g. detection of obstructions or end positions
- E05F15/42—Detection using safety edges
- E05F15/44—Detection using safety edges responsive to changes in electrical conductivity
-
- 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
-
- 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
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
- E05F15/79—Power-operated mechanisms for wings with automatic actuation using time control
-
- 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
- E05F17/00—Special devices for shifting a plurality of wings operated simultaneously
-
- 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
- E05F17/00—Special devices for shifting a plurality of wings operated simultaneously
- E05F2017/008—Special devices for shifting a plurality of wings operated simultaneously for swinging wings
-
- 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
Landscapes
- Control Of Vending Devices And Auxiliary Devices For Vending Devices (AREA)
Abstract
The invention discloses a door opening and closing anti-clamping protection device of a mobile vending service robot, which is characterized in that when an operator takes a vending commodity, and when the robot is closed by misoperation, limbs are placed in gaps between a left door plate and a right door plate, the limbs of the operator are detected through conductive materials arranged in the left door plate and the right door plate, at the moment, the touch detection PCB board sends a signal, and an electric push rod stops closing the door and moves to the door opening position of a left metal detection switch in a reverse direction, and the door closing is performed again at intervals of 2 seconds. When the robot closes the door, the articles are placed in the gaps between the left door plate and the right door plate, the left door plate and the right door plate are in contact with the articles, and at the moment, the current value of the motor of the electric push rod is increased. And the current detection PCB board sends a signal, the electric push rod stops closing the door, reversely moves to the door opening position of the left metal detection switch, and performs door closing again at intervals of 2 seconds. Therefore, the device has simple structure and high working reliability, and is easy to popularize in the market.
Description
Technical Field
The invention relates to a door opening and closing structure of a mobile vending service robot, in particular to an anti-pinch protection device for the door opening and closing of the mobile vending service robot
Background
The door anti-pinch device for the current market has the following functions:
1, detecting whether a person or an object exists or not by monitoring the current of a door opening and closing driving motor. When an operator limb or an article is contacted with the door plate, the current value increases, and the motor stops working, so that the anti-pinch device is realized. The anti-pinch device must be in contact with the operator's limb, which may be painful.
2, an infrared correlation sensor is arranged in the door plates, and when articles or limbs of an operator are arranged between the two door plates, signals of the infrared correlation sensor are blocked, so that the hand clamping prevention is realized. The middle of the infrared correlation sensor position between the door plates of the anti-pinch device cannot be provided with a medium. Resulting in a door that does not seal well or a door panel that is thick to do.
And 3, detecting whether an article or an operator exists when the door is opened or closed through contact collision. When an operator or an object is contacted with the door plate, the door plate collision strip moves to press the travel switch, so that the hand clamping prevention is realized. The anti-pinch device door plate cannot be well sealed, and has the advantages of complex structure, low reliability and short service life.
And 4, detecting the air pressure value to check whether an article or an operator exists when the door is opened or closed. When an operator or an article contacts with the door panel, the operator or the article presses the anti-collision strip, and the internal air pressure changes, so that the anti-pinch effect is realized. The anti-pinch device door plate cannot be well sealed.
And 5, monitoring whether the door is opened or closed by a camera or not. The anti-pinch device can cause the robot to stop and not work normally once the camera is shielded.
Disclosure of Invention
In order to overcome the defects, the invention provides the door opening and closing anti-pinch protection device of the mobile vending service robot, which can effectively avoid pain caused by contact of limbs and door plates by misoperation of operators and limb injury; the problem that the robot is frequently stopped and cannot work normally due to misoperation of an operator is effectively avoided; and the problem that the door plate is too thick because the door plate cannot be well sealed due to the installation of the sensor can be effectively avoided.
The technical scheme adopted by the invention for solving the technical problems is as follows: the patent refers to the field of 'electric digital data processing'.
The current detection PCB and the touch detection PCB are fixed on the vending box body; the left metal detection switch bracket is fixed on the vending box body; the left metal detection switch is fixed on the left metal detection switch bracket; the right metal detection switch bracket is fixed on the vending box body; the right metal detection switch is fixed on the right metal detection switch bracket; the door opening state, the left swing rod can touch the left metal detection switch (the electric push rod is braked when the left swing rod moves to the left metal detection switch, the door opening state is realized at the moment), the door closing state, the right swing rod can touch the right metal detection switch (the electric push rod is braked when the right swing rod moves to the right metal detection switch, the door closing state is realized at the moment);
the electric push rod is hinged to the vending box body; the right end of the left swing rod is hinged to the vending box body; the left end of the right swing rod is hinged to the vending box body; the left end of the electric push rod is hinged to the right end of the left swing rod; the two ends of the connecting rod are respectively hinged with the right end of the left swing rod and the left end of the right swing rod; the right end of the left door plate connecting rod is hinged to the vending box body; the left end of the right door plate connecting rod is hinged to the vending box body; the left door plate is hinged to the left end of the left door plate connecting rod and the left end of the left swing rod respectively; the right door plate is respectively hinged to the right end of the right swing rod and the right end of the right door plate connecting rod; the sealing rubber strips are respectively fixed (stuck) on the left door plate and the right door plate, and conductive materials are arranged at least on the opposite sides of the left door plate and the right door plate;
the current detection PCB can detect the current of the electric push rod, and the current detection PCB, the electric push rod, the left metal detection switch, the right metal detection switch, the touch detection PCB, the electric push rod and the conductive material are all electrically connected to the controller (the electrical control is a general technology and the example is not repeated);
the left end of the electric push rod is hinged to the right end of the left swing rod to form a first hinge point; one end of the connecting rod is hinged to the right end of the left swing rod to form a third hinge point; the right end of the left swing rod is hinged to the vending box body to form a second hinge point, and the second hinge point is positioned between the first hinge point and the third hinge point; the other end of the connecting rod is hinged to the left end of the right swing rod to form a fourth hinge point, the left end of the right swing rod is hinged to the container selling body to form a fifth hinge point, and the fifth hinge point is closer to the right door plate relative to the fourth hinge point.
The invention further adopts the technical scheme that: the hinge structure is a clamp spring pin structure.
The invention further adopts the technical scheme that: the opposite sides and the opposite sides of the left door plate and the right door plate are respectively provided with conductive materials.
The beneficial effects of the invention are as follows: when the operator takes goods for sale, the limbs are placed in the gaps between the left door plate and the right door plate when the robot closes the door due to misoperation, the limbs of the operator are detected through the conductive materials arranged in the left door plate and the right door plate, at the moment, the touch detection PCB board sends a signal, and the electric push rod stops closing the door and moves reversely to the door opening position of the left metal detection switch. The closing operation is performed again at intervals of 2 seconds. Because the conductive materials are arranged in the left door plate and the right door plate, signals can be detected without contacting limbs, thereby avoiding injury to limbs of operators. When the robot closes the door, the articles are placed in the gaps between the left door plate and the right door plate, the left door plate and the right door plate are in contact with the articles, and at the moment, the current value of the motor of the electric push rod is increased. And the current detection PCB board sends a signal, and the electric push rod stops closing the door and reversely moves to the door opening position of the left metal detection switch. The closing operation is performed again at intervals of 2 seconds. Thereby avoiding the articles from being damaged by clamping when the door is opened or closed. From the results, the invention can effectively avoid the pain caused by the contact of the limbs and the door plate by the misoperation of an operator, and the injury of the limbs is caused; the problem that the robot is frequently stopped and cannot work normally due to misoperation of an operator is effectively avoided; and finally, the invention has simple structure, high integral working reliability and low comprehensive cost, and is easy to popularize in the market.
Drawings
FIG. 1 is a schematic illustration of the present invention;
FIG. 2 is a schematic view of the present invention with conductive material in place (first, second, third, fourth positions);
Detailed Description
The technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Spatially relative terms, such as "upper," "lower," "left," "right," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, as the exemplary term "upper" may include both "upper" and "lower" orientations, the term "left" and "right" orientations are similarly understood. The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
Examples: the utility model provides a remove service robot switch door anti-pinch protection device that sells goods, includes electric current detection PCB board 1, selling goods box 2, left metal detection switch support 3, left metal detection switch 4, right metal detection switch support 31, right metal detection switch 41, left pendulum rod 5, left door plant connecting rod 6, left door plant 7, joint strip 8, touch detection PCB board 9, electric putter 10, connecting rod 11, right pendulum rod 12, right door plant connecting rod 13 and right door plant 14;
the current detection PCB 1 and the touch detection PCB 9 are fixed on the vending box 2; the left metal detection switch bracket 3 is fixed on the vending box body 2; the left metal detection switch 4 is fixed on the left metal detection switch bracket 3; the right metal detection switch bracket 31 is fixed on the vending box body 2; the right metal detection switch 41 is fixed on the right metal detection switch bracket 31; a door-open state in which the left swing lever 5 can touch the left metal detection switch 4 (the electric push rod 10 is braked when the left swing lever 5 moves to the left metal detection switch 4, and the door is opened), a door-closed state in which the right swing lever 12 can touch the right metal detection switch 41 (when the right swing lever 12 moves to the right metal detection switch 41, the electric push rod 10 is braked when the door is closed.);
the electric push rod 10 is hinged to the vending box body 2; the right end of the left swing rod 5 is hinged to the vending box body 2; the left end of the right swing rod 12 is hinged to the vending box body 2; the left end of the electric push rod 10 is hinged to the right end of the left swing rod 5; the two ends of the connecting rod 11 are respectively hinged with the right end of the left swing rod 5 and the left end of the right swing rod 12; the right end of the left door plate connecting rod 6 is hinged with the vending box body 2; the left end of the right door plate connecting rod 13 is hinged to the vending box body 2; the left door plate 7 is hinged to the left end of the left door plate connecting rod 6 and the left end of the left swing rod 5 respectively; the right door plate 14 is respectively hinged to the right end of the right swing rod 12 and the right end of the right door plate connecting rod 13; the sealing rubber strips 8 are respectively fixed (adhered) to the left door plate 7 and the right door plate 14, and conductive materials are arranged at least on the opposite sides of the left door plate 7 and the right door plate 14;
the current detection PCB 1 can detect the current of the electric putter 10, and the current detection PCB 1, the electric putter 10, the left metal detection switch 4, the right metal detection switch 41, the touch detection PCB 9, the electric putter 10 and the conductive material are all electrically connected to the controller (this electrical control is a general technology, and the description of this example is omitted);
the left end of the electric push rod 10 is hinged to the right end of the left swing rod 5 to form a first hinge point; one end of the connecting rod 11 is hinged to the right end of the left swing rod 5 to form a third hinge point; the right end of the left swing rod 5 is hinged to the vending box body 2 to form a second hinge point, and the second hinge point is positioned between the first hinge point and the third hinge point; the other end of the connecting rod 11 is hinged to the left end of the right swing rod 12 to form a fourth hinge point, the left end of the right swing rod 12 is hinged to the container selling body 2 to form a fifth hinge point, and the fifth hinge point is closer to the right door plate 14 relative to the fourth hinge point.
The hinge structure is a clamp spring pin structure.
The left door panel 7 and the right door panel 14 are provided with conductive material on opposite sides and opposite sides.
The action process of the invention is as follows: when the electric push rod 10 moves in a telescopic mode, the left swing rod 5 is driven to rotate around the fixed clamp spring pin. The left swing rod 5 drives the connecting rod 11 to move during the rotation movement. The connecting rod 11 moves to drive the right swing rod 12 to rotate around the fixed clamp spring pin. The left swing rod 5 and the right swing rod 12 drive the left door plate 7 and the right door plate 14 to open and close. When the left swing rod 5 moves to the left metal detection switch 4, the electric push rod 10 is braked, and the door is opened. When the right swing rod 12 moves to the right metal detection switch 41, the electric push rod 10 is braked, and the door is closed.
When the operator takes goods for sale, the limbs are put in the gaps between the left door plate 7 and the right door plate 14 when the robot closes the door due to misoperation, the limbs of the operator are detected through the conductive materials arranged in the left door plate 7 and the right door plate 14, at the moment, the touch detection PCB 9 sends a signal, and the electric push rod 10 stops closing the door and reversely moves to the opening position of the left metal detection switch 4. The closing operation is performed again at intervals of 2 seconds. Because the conductive materials are arranged in the left door plate 7 and the right door plate 14, signals can be detected without contacting with limbs, thereby avoiding injury to limbs of operators. When an object is placed in gaps of the left door plate 7 and the right door plate 14 when the robot closes the door, the left door plate 7 and the right door plate 14 are in contact with the object, and at the moment, the current value of the motor of the electric push rod 10 is increased. The current detection PCB 1 sends a signal, and the electric push rod 10 stops closing the door and moves reversely to the door opening position of the left metal detection switch 4. The door is closed again at intervals of 2 seconds (the time can be set manually, and the prior art will not be repeated). Thereby avoiding the articles from being damaged by clamping when the door is opened or closed.
Claims (3)
1. A mobile vending service robot door opening and closing anti-clamping protection device is characterized in that:
the automatic vending machine comprises a current detection PCB (1), a vending box body (2), a left metal detection switch bracket (3), a left metal detection switch (4), a right metal detection switch bracket (31), a right metal detection switch (41), a left swing rod (5), a left door plate connecting rod (6), a left door plate (7), a sealing rubber strip (8), a touch detection PCB (9), an electric push rod (10), a connecting rod (11), a right swing rod (12), a right door plate connecting rod (13) and a right door plate (14);
the current detection PCB (1) and the touch detection PCB (9) are fixed on the vending box body (2); the left metal detection switch bracket (3) is fixed on the vending box body (2); the left metal detection switch (4) is fixed on the left metal detection switch bracket (3); the right metal detection switch bracket (31) is fixed on the vending box body (2); the right metal detection switch (41) is fixed on the right metal detection switch bracket (31); the left swing rod (5) can touch the left metal detection switch (4) in a door opening state, and the right swing rod (12) can touch the right metal detection switch (41) in a door closing state;
the electric push rod (10) is hinged to the container selling body (2); the right end of the left swing rod (5) is hinged to the vending box body (2); the left end of the right swing rod (12) is hinged to the vending box body (2); the left end of the electric push rod (10) is hinged to the right end of the left swing rod (5); two ends of the connecting rod (11) are respectively hinged with the right end of the left swing rod (5) and the left end of the right swing rod (12); the right end of the left door plate connecting rod (6) is hinged to the vending box body (2); the left end of the right door plate connecting rod (13) is hinged to the vending box body (2); the left door plate (7) is hinged to the left end of the left door plate connecting rod (6) and the left end of the left swing rod (5) respectively; the right door plate (14) is hinged to the right end of the right swing rod (12) and the right end of the right door plate connecting rod (13) respectively; the sealing rubber strip (8) is respectively fixed (stuck) on the left door plate (7) and the right door plate (14), and conductive materials are arranged at least on the opposite sides of the left door plate (7) and the right door plate (14);
the current detection PCB 1 can detect the current of the electric push rod (10), and the current detection PCB 1, the electric push rod (10), the left metal detection switch (4), the right metal detection switch (41), the touch detection PCB (9), the electric push rod (10) and the conductive material are all electrically connected to the controller;
the left end of the electric push rod (10) is hinged to the right end of the left swing rod (5) to form a first hinge point; one end of the connecting rod (11) is hinged to the right end of the left swing rod (5) to form a third hinge point; the right end of the left swing rod (5) is hinged to the vending box body (2) to form a second hinge point, and the second hinge point is positioned between the first hinge point and the third hinge point; the other end of the connecting rod (11) is hinged to the left end of the right swing rod (12) to form a fourth hinge point, the left end of the right swing rod (12) is hinged to the container selling body (2) to form a fifth hinge point, and the fifth hinge point is closer to the right door plate (14) relative to the fourth hinge point.
2. The mobile vending service robot door pinch-proof protection device according to claim 1, wherein: the hinge structure is a clamp spring pin structure.
3. The mobile vending service robot door pinch-proof protection device according to claim 1, wherein: the left door plate (7) and the right door plate (14) are provided with conductive materials on two opposite sides and two opposite sides.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111348356.0A CN116122694A (en) | 2021-11-15 | 2021-11-15 | Anti-pinch protection device for opening and closing door of mobile vending service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111348356.0A CN116122694A (en) | 2021-11-15 | 2021-11-15 | Anti-pinch protection device for opening and closing door of mobile vending service robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116122694A true CN116122694A (en) | 2023-05-16 |
Family
ID=86306790
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111348356.0A Pending CN116122694A (en) | 2021-11-15 | 2021-11-15 | Anti-pinch protection device for opening and closing door of mobile vending service robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116122694A (en) |
-
2021
- 2021-11-15 CN CN202111348356.0A patent/CN116122694A/en active Pending
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