CN207841385U - A kind of robot door - Google Patents
A kind of robot door Download PDFInfo
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- CN207841385U CN207841385U CN201721769844.8U CN201721769844U CN207841385U CN 207841385 U CN207841385 U CN 207841385U CN 201721769844 U CN201721769844 U CN 201721769844U CN 207841385 U CN207841385 U CN 207841385U
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- Prior art keywords
- door
- door ontology
- robot
- ontology
- optical axis
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Abstract
The utility model provides a kind of robot door, including：Door ontology；Door ontology actuating mechanism is connect with the door ontology, and the door ontology is driven to pump；The side being in contact with robot warehouse when the door ontology is closed, including pressure sensor device and control device is arranged in hand-clamping preventing mechanism；When the pressure sensor device detects pressure, the control device, which controls the door ontology actuating mechanism, to be stopped driving the door ontology, makes the door ontology remains stationary.The robot door of the utility model efficiently avoids the generation of clamp hand situation, ensure that the safety of door and article on the basis of lower slider opens a position in realization.
Description
Technical field
The utility model is related to a kind of doors, more particularly to a kind of robot door.
Background technology
In the prior art, the robot mode of opening a position generallys include following two：
(1) top flip opens a position
Since warehouse size is limited, the structure that top flip opens a position is unfavorable for designing taking object and putting for multi-functional warehouse
Object is also unfavorable for protecting privacy of user.
(2) side opens a position
Specifically, side opens a position opens a position including horizontally slipping to open a position and slide up and down.Wherein, horizontally slip the mode to open a position
It is more demanding to the curved surface of shell, the shelling machine of robot can be caused limited.The structure to open a position is slided up and down to lack well
Arrestment mechanism can cause potentially to injure to user, it is also possible to press from both sides bad article and door is caused to damage.
Utility model content
In view of the foregoing deficiencies of prior art, the purpose of this utility model is to provide a kind of robot door,
Realization slides up and down open a position on the basis of, efficiently avoid the generation of clamp hand situation, ensure that the safety of door and article.
In order to achieve the above objects and other related objects, the utility model provides a kind of robot door, including：Door sheet
Body；Door ontology actuating mechanism is connect with the door ontology, and the door ontology is driven to pump；Anti-pinch
The side being in contact with robot warehouse when the door ontology is closed, including pressure sensor device and control is arranged in mobile phone structure
Device processed；When the pressure sensor device detects pressure, the control device controls the door ontology actuating mechanism and stops
The door ontology is only driven, the door ontology remains stationary is made.
In one embodiment of the utility model, the door ontology actuating mechanism includes motor, optical axis, synchronous belt, a pair
Synchronous pulley and fixedly connected part；The optical axis is longitudinally disposed, and the pair of synchronous pulley is arranged at the optical axis both ends, wherein
One synchronous pulley is connected with the motor, and around being located on the pair of synchronous pulley, the fixing piece connects the synchronous belt
Part is set on the optical axis, is connected with the synchronous belt and the door ontology, is used under the drive of the synchronous belt,
The door ontology is driven to pump along the optical axis.
In one embodiment of the utility model, limit switches are respectively set in the top and bottom end of the optical axis.
In one embodiment of the utility model, if the door ontology moves up, the optical axis top also sets up limited
Position boss, the positive stop lug boss are arranged in the top of the limit switch on the optical axis top；If the door ontology moves down,
The optical axis top is additionally provided with positive stop lug boss, and the lower section of the limit switch of the optical axis bottom end is arranged in the positive stop lug boss.
In one embodiment of the utility model, the pressure sensor device is using connected copper foil and spring, the control
Device uses pcb board；When the copper foil, which is under pressure, to be deformed upon, the spring is compressed and is triggered the pcb board, described
Pcb board sends stop signal to the door ontology actuating mechanism, so that the door ontology actuating mechanism is stopped.
In one embodiment of the utility model, the pressure sensor device uses diaphragm pressure sensor.
Further include pair of sliding guide rail, a pair of links, one end of the connecting rod and institute in one embodiment of the utility model
The side for stating door ontology is connected, and the other end is provided with convex block, and the convex block is adapted with the rail plate, in the cunning
Sliding in dynamic guide rail.
In one embodiment of the utility model, the convex block is to be flexibly connected with the connecting rod.
In one embodiment of the utility model, it is additionally provided with display equipment on the door ontology, for showing robot
Real-time status.
As described above, the robot door of the utility model, has the advantages that：
(1) on the basis of lower slider opens a position in realization, the generation of clamp hand situation is efficiently avoided；
(2) it ensure that the safety of door and article, it is highly practical；
(3) greatly the user experience is improved.
Description of the drawings
Fig. 1 is shown as structural schematic diagram of the robot door of the utility model in an embodiment；
Fig. 2 is shown as the rearview of the robot door of Fig. 1；
Fig. 3 is shown as the front view of the robot door of Fig. 1；
Fig. 4 is shown as the sectional view along A-A of Fig. 3.
Component label instructions
1 door ontology
2 door ontology actuating mechanisms
21 motors
22 optical axises
23 synchronous belts
24 synchronous pulleys
25 fixedly connected parts
3 hand-clamping preventing mechanisms
31 copper foils
32 springs
33 pcb boards
4 rail plates
5 connecting rods
Specific implementation mode
Illustrate that the embodiment of the utility model, those skilled in the art can be by these by particular specific embodiment below
Content disclosed by specification understands other advantages and effect of the utility model easily.
It should be clear that structure, ratio, size etc. depicted in this specification institute accompanying drawings, only coordinating specification to be taken off
The content shown is not limited to the enforceable restriction item of the utility model so that those skilled in the art understands and reads
Part, therefore do not have technical essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size are not influencing
Under the effect of the utility model can be generated and the purpose that can reach, should all still it fall in the revealed technology of the utility model
In the range of Rong get Neng is covered.Meanwhile it is cited such as "upper", "lower", "left", "right", " centre " and " one " in this specification
Deng term, be merely convenient to being illustrated for narration, rather than to limit the enforceable range of the utility model, relativeness
It is altered or modified, in the case where changing technology contents without essence, when being also considered as the enforceable scope of the utility model.
The robot door of the utility model, on the basis of lower slider opens a position in realization, efficiently avoids clamp hand
The generation of situation ensure that the safety of door and article, and greatly the user experience is improved.
As Figure 1-Figure 4, in an embodiment, the robot door of the utility model includes：
Door ontology 1, in the present invention, the realization of door ontology 1 slide up and down switch, can be realized with upward sliding
Door open, can also slide downward, realize door open.
In one embodiment of the utility model, it is additionally provided with display equipment on the door ontology 1, for by different
The real-time status of pattern displaying robot.
Door ontology actuating mechanism 2 is connect with the door ontology 1, and is driven the door ontology 1 to do and up and down reciprocatingly transported
It is dynamic.
In one embodiment of the utility model, the door ontology actuating mechanism 2 includes motor 21, optical axis 22, synchronous belt
23, a pair of of synchronous pulley 24 and fixedly connected part 25.The optical axis 22 is longitudinally disposed, and the pair of synchronous pulley 24 is arranged in institute
22 both ends of optical axis are stated, one of synchronous pulley 24 is connected with the motor 21, and the synchronous belt 23 is the pair of same around being located at
It walks on belt wheel 24, the fixing piece connector 25 is set on the optical axis 22, with the synchronous belt 23 and the door ontology 1
It is connected, under the drive of the synchronous belt 23, the door ontology 1 being driven up and down reciprocatingly to be transported along the optical axis 22
It is dynamic.
Preferably, limit switches are respectively set in the top and bottom end of the optical axis 22, with ensure door ontology 1 be closed and
It is opened to the accuracy of maximum position dropping place.If it is further preferable that the door ontology 1 moves up, 22 top of the optical axis
It is additionally provided with positive stop lug boss, the positive stop lug boss is arranged in the top of the limit switch on 22 top of the optical axis；If the door
Ontology 1 moves down, and 22 top of the optical axis is additionally provided with positive stop lug boss, and the limit of the optical axis bottom end is arranged in the positive stop lug boss
The lower section of bit switch.Therefore, pass through the dual cooperation of positive stop lug boss and limit switch, it is ensured that door ontology reaches maximum open
No longer downlink behind position.I.e. if limit switch damages, limiting stand can prevent door from continuing traveling downwardly, and motor can block up at this time
Turn, the protection system for motor of system can detect that motor current value is excessive, to control motor stalling；If without this positive stop lug boss,
Then motor will continue to that door ontology is driven unwitting failure occur until door ontology and total system.
In the present invention, door ontology 1 can also be driven using two or more door ontology actuating mechanisms 2,
To ensure the normal folding of door ontology 1.In the present invention, two or more optical axises 22 can also be used, it is solid to make
The connection for determining connector 25 is more firm.
In another embodiment of the utility model, the door ontology actuating mechanism can also use electric pushrod, liquid
Pressure etc..
The side being in contact with robot warehouse when the door ontology 1 is closed, including pressure is arranged in hand-clamping preventing mechanism 3
Force sensor and control device；When the pressure sensor device detects pressure, the control device controls the door
Ontology actuating mechanism stops driving the door ontology, makes the door ontology remains stationary.
In one embodiment of the utility model, as shown in figure 4, the pressure sensor device is using connected copper foil 31 and bullet
Spring 32, the control device use pcb board 33；When the copper foil 31, which is under pressure, to be deformed upon, the spring 32 is compressed
And the pcb board 33 is triggered, the pcb board 33 sends stop signal to the door ontology actuating mechanism 2, so that the door
Ontology actuating mechanism 2 is stopped.After pressure disappears, door ontology recovery action.
In another embodiment of the utility model, the pressure sensor device uses diaphragm pressure sensor.
In one embodiment of the utility model, as shown in Fig. 2, the robot door of the utility model further includes pair of sliding
Guide rail 4, a pair of links 5, one end of the connecting rod 5 are connected with the side of the door ontology 1, and the other end is provided with convex block, institute
It states convex block to be adapted with the rail plate 4, to slide in the rail plate.Preferably, the convex block and the connecting rod
It is flexibly connected for 5, to ensure that door ontology 1 can smoothly slip in non-directional place on rail plate 4, without will produce
It is hard to squeeze, protect door ontology 1, it is ensured that smooth and smooth and whole system the stability of door switch.Wherein,
The trade shape of rail plate 4 matches according to the sliding trace of the shape of door ontology 1 and door ontology 1.
In conclusion the robot door of the utility model on the basis of lower slider opens a position in realization, is effectively prevented from
The generation of clamp hand situation；It ensure that the safety of door and article, it is highly practical；Greatly the user experience is improved.So
The utility model effectively overcomes various shortcoming in the prior art and has high industrial utilization.
The above embodiments are only illustrative of the principle and efficacy of the utility model, new not for this practicality is limited
Type.Any person skilled in the art can all carry out above-described embodiment under the spirit and scope without prejudice to the utility model
Modifications and changes.Therefore, such as those of ordinary skill in the art without departing from the revealed essence of the utility model
All equivalent modifications completed under refreshing and technological thought or change, should be covered by the claim of the utility model.
Claims (9)
1. a kind of robot door, it is characterised in that：Including：
Door ontology；
Door ontology actuating mechanism is connect with the door ontology, and the door ontology is driven to pump；
The side being in contact with robot warehouse when the door ontology is closed, including pressure sensing is arranged in hand-clamping preventing mechanism
Device and control device；When the pressure sensor device detects pressure, it is dynamic that the control device controls the door ontology
Make mechanism to stop driving the door ontology, makes the door ontology remains stationary.
2. robot door according to claim 1, it is characterised in that：The door ontology actuating mechanism include motor,
Optical axis, synchronous belt, a pair of of synchronous pulley and fixedly connected part；The optical axis is longitudinally disposed, and the pair of synchronous pulley setting exists
The optical axis both ends, one of synchronous pulley are connected with the motor, and the synchronous belt is around being located at the pair of synchronous pulley
On, the fixing piece connector is set on the optical axis, is connected with the synchronous belt and the door ontology, in institute
Under the drive for stating synchronous belt, the door ontology is driven to pump along the optical axis.
3. robot door according to claim 2, it is characterised in that：The top and bottom end of the optical axis are respectively arranged with
Limit switch.
4. robot door according to claim 3, it is characterised in that：If the door ontology moves up, the light
Axis top is additionally provided with positive stop lug boss, and the positive stop lug boss is arranged in the top of the limit switch on the optical axis top；If described
Door ontology moves down, and the optical axis top is additionally provided with positive stop lug boss, and the optical axis bottom end is arranged in the positive stop lug boss
The lower section of limit switch.
5. robot door according to claim 1, it is characterised in that：The pressure sensor device is using connected copper foil
And spring, the control device use pcb board；When the copper foil, which is under pressure, to be deformed upon, the spring is compressed and is touched
Send out pcb board described, the pcb board sends stop signal to the door ontology actuating mechanism, so that the door ontology acts
Mechanism is stopped.
6. robot door according to claim 1, it is characterised in that：The pressure sensor device is passed using diaphragm pressure
Sensor.
7. robot door according to claim 1, it is characterised in that：Further include pair of sliding guide rail, a pair of links, institute
The one end for stating connecting rod is connected with the side of the door ontology, and the other end is provided with convex block, the convex block and the rail plate
It is adapted, to be slided in the rail plate.
8. robot door according to claim 7, it is characterised in that：The convex block is to be flexibly connected with the connecting rod.
9. robot door according to claim 1, it is characterised in that：Display is additionally provided on the door ontology to set
It is standby, the real-time status for showing robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721769844.8U CN207841385U (en) | 2017-12-18 | 2017-12-18 | A kind of robot door |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721769844.8U CN207841385U (en) | 2017-12-18 | 2017-12-18 | A kind of robot door |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207841385U true CN207841385U (en) | 2018-09-11 |
Family
ID=63421125
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721769844.8U Active CN207841385U (en) | 2017-12-18 | 2017-12-18 | A kind of robot door |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207841385U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111021874A (en) * | 2019-12-09 | 2020-04-17 | 国网智能科技股份有限公司 | Tunnel fireproof door and related self-checking method and fireproof method |
| CN112109114A (en) * | 2020-08-28 | 2020-12-22 | 上海擎朗智能科技有限公司 | Door opening and closing mechanism and robot |
-
2017
- 2017-12-18 CN CN201721769844.8U patent/CN207841385U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111021874A (en) * | 2019-12-09 | 2020-04-17 | 国网智能科技股份有限公司 | Tunnel fireproof door and related self-checking method and fireproof method |
| CN112109114A (en) * | 2020-08-28 | 2020-12-22 | 上海擎朗智能科技有限公司 | Door opening and closing mechanism and robot |
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