CN208135237U - A kind of storing bin door, storing bin and transportation robot - Google Patents
A kind of storing bin door, storing bin and transportation robot Download PDFInfo
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- CN208135237U CN208135237U CN201820587648.7U CN201820587648U CN208135237U CN 208135237 U CN208135237 U CN 208135237U CN 201820587648 U CN201820587648 U CN 201820587648U CN 208135237 U CN208135237 U CN 208135237U
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Abstract
The utility model provides a kind of storing bin door, storing bin and transportation robot, including a pair of first door track, sets up separately on two opposite sides of storing bin；A pair of second door track, sets up separately on two opposite sides of storing bin, and the projection of second door track and first door track on same side is intersected but is not overlapped；First door is arranged between the pair of first door track；Second door is arranged between the pair of second door track；Door driving mechanism, for driving first door and second door mobile respectively along the pair of first door track and the pair of second door track.Door and warehouse are combined into one by the storing bin door, storing bin and transportation robot of the utility model, are realized door any position opening, are greatly improved the space utilization rate and service efficiency of storing bin.
Description
Technical field
The utility model relates to a kind of doors, more particularly to a kind of storing bin door, storing bin and transportation robot.
Background technique
In recent years, transportation robot has obtained development at full speed.For the transportation robot with article delivery functions,
Conveyer mainly includes following two form：
(1) external form
The robot of machine ox, mechanical horse etc., article is carried on the back in back；For another example anthropomorphic robot, double arm, both hands support
A pallet is lifted, is placed items on pallet.It is not limited by storage space using external conveyer, it is easy to accomplish；But
Be not suitable for the more demanding article such as transporting some secret articles, and dust-proof radix saposhnikoviae should not be dispensed.
(2) built in version
Such as wheeled robot, by the interior storing bin set come conveying articles.For the storing bin of single open-door, if in storing bin
Single layer parcel shelf is set, then single, the lower defect of storing bin utilization rate in the presence of placement article；If being provided with multilayer in storing bin
Parcel shelf is then limited when pickup by space, and object can only be sequentially taken, if the article on the parcel shelf of upper layer does not take
It walks, then the article on lower layer's parcel shelf can not just be sent to client, service efficiency is low.This is because by transportation robot height
It is limited with inner space, any sequence exchanged between parcel shelf is difficult, and can greatly increase cost.
Utility model content
In view of the foregoing deficiencies of prior art, the purpose of this utility model is to provide a kind of storing bin doors, storage
Object storehouse and transportation robot, door and warehouse are combined into one, and are realized door any position opening, are greatly improved storing
The space utilization rate and service efficiency in storehouse.
In order to achieve the above objects and other related objects, the utility model provides a kind of storing bin door, including a pair of the
One door track sets up separately on two opposite sides of storing bin；A pair of second door track, sets up separately in two opposite sides of storing bin
On face, the projection of second door track and first door track on same side is intersected but is not overlapped；First door, setting exist
Between the pair of first door track；Second door is arranged between the pair of second door track；Door driving mechanism, for driving
It is mobile respectively along the pair of first door track and the pair of second door track to move first door and second door.
In an embodiment of the present invention, the door driving mechanism includes：
Driving motor component；
Several first synchronous pulleys are arranged on the pair of first door track；
Two the first synchronous belts, each first synchronous belt are set on the first synchronous pulley on first door track, and
It is connected with a side of first door, to be rotated under the driving of the driving motor component with first synchronous pulley
And then first door is driven to move along the pair of first door track；
Several second synchronous pulleys are separately positioned on the pair of second door track；
Two the second synchronous belts, each second synchronous belt are set on the second synchronous pulley on second door track, and
It is connected with a side of second door, to be rotated under the driving of the driving motor component with second synchronous pulley
And then second door is driven to move along the pair of second door track.
In an embodiment of the present invention, the driving motor component includes outer rail driving motor and internal rail driving electricity
Machine is respectively used to drive first synchronous pulley and second synchronous pulley.
The first synchronous belt in an embodiment of the present invention, on one the first door track of the driving motor Component driver
The second synchronous pulley on wheel and second door track, two the first synchronous pulleys on two the first door tracks at relative position are logical
It crosses roller bearing to be connected, two the second synchronous pulleys on two the second door tracks at relative position are connected by roller bearing.
In an embodiment of the present invention, first door track and second door track are square round rectangle track.
In an embodiment of the present invention, first door track and second door track on same side are located at difference
On vertical guide.
Meanwhile the utility model also provides a kind of storing bin, including：
Above-mentioned storing bin door；
Several parcel shelf are horizontally set in the storing bin warehouse；The parcel shelf includes two daughter boards, described two
The fixing end of daughter board is respectively fixedly disposed on two opposite sides of the storing bin, and the movable end of the daughter board can be simultaneously
It is rotated upwardly and downwardly around the fixing end；
With the one-to-one parcel shelf driving assembly of the parcel shelf, for driving the movable end of described two daughter boards simultaneously
It is rotated upwardly and downwardly around fixing end, to realize the opening and closing of the parcel shelf.
In an embodiment of the present invention, the parcel shelf driving assembly includes motor, synchronous belt driving wheel, synchronous belt
Driven wheel, synchronous belt, synchronous belt fixing piece, at least two optical axises and two parcel shelf connecting rods；
The synchronous belt driving wheel and the synchronous belt driven wheel are disposed longitudinally on the storing bin side wall, it is described at least
Two optical axises are disposed longitudinally on the storing bin side wall；The motor is connected with the synchronous belt driving wheel, the synchronous belt
It being set on the synchronous belt driving wheel and the synchronous belt driven wheel, the synchronous belt fixing piece is connected with the synchronous belt,
And it is set on the optical axis；
One end of described two parcel shelf connecting rods is rotatably connected, and the other end is connect with described two daughter boards respectively；It is described
The connecting pin of two parcel shelf connecting rods is connect with the synchronous belt fixing piece, described two to drive when the synchronous belt is mobile
Daughter board is opened simultaneously or is closed.
In an embodiment of the present invention, the number of the parcel shelf is 3.
Finally, the utility model provides a kind of transportation robot, including above-mentioned storing bin door or above-mentioned storing bin.
As described above, the storing bin door, storing bin and transportation robot of the utility model, have the advantages that：
(1) door and warehouse are combined into one, realize door any position opening；
(2) the space layout difficulty to the parcel shelf in storing bin is greatly reduced；
(3) it greatly facilitates user to place and take article away, improves user experience；
(4) door track itself constitutes warehouse profile, saves orbit space；
(5) daughter board that parcel shelf can be automatically opened and be closed by two pieces forms, and realizes the adjusting of storage space, greatly
Improve the space utilization rate and service efficiency of storing bin.
Detailed description of the invention
Fig. 1 is shown as back perspective view of the storing bin of the utility model in an embodiment；
Fig. 2 is shown as front perspective view of the storing bin of the utility model in an embodiment；
Fig. 3 is shown as perspective view of the door of the utility model in an embodiment；
Fig. 4 is shown as the top view of the door of Fig. 3.
Component label instructions
1 first door track
2 second door tracks
3 first doors
4 second doors
5 door driving mechanisms
51 driving motor components
52 first synchronous pulleys
53 first synchronous belts
54 second synchronous pulleys
55 second synchronous belts
6 parcel shelf
61 daughter boards
7 daughter board driving assemblies
71 motors
72 synchronous belt driving wheels
73 synchronous belt driven wheels
74 synchronous belts
75 synchronous belt fixing pieces
76 optical axises
77 parcel shelf connecting rods
Specific embodiment
The embodiments of the present invention is illustrated by particular specific embodiment below, those skilled in the art can be by this
Content disclosed by specification understands other advantages and effect of the utility model easily.
It should be clear that this specification structure depicted in this specification institute accompanying drawings, ratio, size etc., only to cooperate specification to be taken off
The content shown is not intended to limit the utility model enforceable restriction item 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, under the content of no substantial changes in technology, when being also considered as the enforceable scope of the utility model.
Door and warehouse are combined into one by the storing bin door, storing bin and transportation robot of the utility model, are realized
Door any position is opened, and greatly improves the space utilization rate and service efficiency of storing bin, and parcel shelf can be certainly by two pieces
The daughter board composition of dynamic opening and closing, realizes the flexible modulation of storage space.
As shown in Figs 1-4, in an embodiment, the storing bin door of the utility model includes：
A pair of first door track 1, sets up separately on two opposite sides of storing bin.Preferably, first door track 1 is ring
Shape track.It is further preferable that first door track 1 is round rectangle track.
A pair of second door track 2, sets up separately on two opposite sides of storing bin, second door track 2 and described first
Projection of the door track 1 on same side is intersected but is not overlapped.Specifically, the center of the pair of second door track 2 the pair of
The center of one door track 1 is not overlapped, the setting so that the pair of second door track 2 and the pair of first door track, 1 annular are staggered, thus
Define the inside and outside contour of the storing bin warehouse of the utility model.Preferably, second door track 2 is circular orbit.It is more excellent
Selection of land, second door track 2 are round rectangle track.
First door 3 is arranged between the pair of first door track 1, to form one along the pair of first door track 1
Side.Side warehouse and door as the storing bin simultaneously.
Second door 4 is arranged between the pair of second door track 2, to form one along the pair of second door track 2
Side.Side warehouse and door as the storing bin simultaneously.Since second door track 2 and first door track 1 exist
Projection on same side is intersected but is not overlapped, the setting therefore first door 3 and second door 4 are staggered, and can cover
Cover the side and top surface of the storing bin.
It should be noted that the storing bin side as composed by first door 3 and second door 4 can be it is perpendicular
It faces directly, is also possible to curved surface.First door track and second door track when the side is vertical plane, on same side
On different vertical guides, thus guarantee second door track 2 and first door track 1 on same side projection intersection but
It is not overlapped.
Door driving mechanism 5, for driving first door 3 and second door 4 respectively along the pair of
One door track 1 and the pair of second door track 2 are mobile.
Specifically, first door 3 and second door 4 two sides and top that be coated on the storing bin opposite
Face, and as the storing bin warehouse itself.Therefore, the relative motion between first door 3 and second door 4 is
The opening and closing of the storing bin door can be achieved.It should be noted that the shape of other two side of storing bin is not
It limits, the side at main its edge and first door 3 and second door 4 is mutually closed.
Preferably, when original state, first door 3 and second door mutually from both ends closure or overlapping.
Door driving mechanism 5, for driving first door 3 and second door 4 respectively along the pair of
One door track 1 and the pair of second door track 2 are mobile.Therefore, with the movement of first door 3 and second door 4, institute
State the phase of the first door 3 and second door 4 from one end mutually from or be stacked, to realize beating for the storing bin warehouse
Open and close are closed, and take object to provide support for glove.
In the utility model, first door 3 and first door 4 are arranged in a staggered manner.In traditional opening structure, door
The space and position of frame are fixed, that is, allow to guarantee that the position opened the door independently corresponds to each layer commodity plate, but still
There are sequencings, if the article of the parcel shelf of first position is not removed, will lead to subsequent parcel shelf can not take object.And
The opening structure of the utility model can guarantee that door according to robot instruction, opens the door at an arbitrary position, and therefore, user can take
Thing on the parcel shelf of random layer.
In an embodiment of the present invention, first door 3 and second door 4 use fabric texture.Due to
First door 3 and second door 4 needs moved in non-directional track, therefore the material of door be it is soft,
Pass through the door-opening mode of above-mentioned dislocation type, it is ensured that the closure of door does not occur any problem, it is ensured that user can't see warehouse
The object of the inside, protects privacy of user.
In an embodiment of the present invention, the door driving mechanism 5 includes：
Driving motor component 51；
Several first synchronous pulleys 52 are arranged on the pair of first door track；When using rectangle outer rail, it is preferable that
Using 8 the first synchronous pulleys, it is separately positioned at each apex or the vertex and lateral location of two rectangle outer rails.
Two the first synchronous belts 53, each first synchronous belt 53 are set in the first synchronous pulley on first door track 1
On 52, and it is connected with a side of first door, with same with described first under the driving of the driving motor component 51
Step belt wheel 52 rotates and then first door 3 is driven to move along the pair of first door track 1.Preferably, by the first synchronous belt
53 are fixedly connected with the top of the first door 3.
Several second synchronous pulleys 54 are separately positioned on the pair of second door track 2；It is excellent when using rectangle internal rail
Selection of land is separately positioned on each apex or vertex and lateral location of two rectangle internal rails using 8 the second synchronous pulleys
Place.
Two the second synchronous belts 55, each second synchronous belt 55 are set in the second synchronous pulley on second door track 2
On 54, and it is connected with a side of second door 4, with same with described second under the driving of the driving motor component 51
Step belt wheel 54 rotates and then second door 4 is driven to move along the pair of second door track 2.Preferably, by the second synchronous belt
54 are fixedly connected with the top of internal rail hatch door 4.
Therefore, by the door driving mechanism of above structure, first door 3 and second door 4 be can be realized
Moving along first door track 1 and second door track 2 respectively, to realize first door 3 and second door 4
Phase of the phase from one end from or be stacked, make it possible to open the storing bin door at an arbitrary position, greatly improve glove
Take the convenience of object.
It should be noted that first synchronous pulley 52 and second synchronous pulley 54 are arranged at storing bin side wall
On, and be not on same plane, thus without interfering with each other.
In an embodiment of the present invention, the driving motor component 51 includes outer rail driving motor and internal rail driving electricity
Machine is respectively used to drive first synchronous pulley 52 and second synchronous pulley 54.It specifically, can be according to required opening
Door position controls first synchronous pulley 52 and second synchronous pulley 54 and rotates or individually rotate simultaneously, then leads to
It crosses the first synchronous belt 53 and the second synchronous belt 55 drives first door 3 and second door 4 while mobile or individually shifting
It is dynamic.Preferably, the outer rail driving motor and internal rail driving motor can be overall structure, while control first synchronous belt
Wheel 52 and second synchronous pulley 54；It may be separated structure, control first synchronous pulley 52 and described respectively
Two synchronous pulleys 54.Preferably, two the first synchronous pulleys 52 are connected by shaft, outer rail driving motor driving wherein one
A first synchronous pulley 52 and then another first synchronous pulley 52 is driven to rotate together, to realize synchronization action, avoid by
It opens the door caused by door skew unsmooth.Two the second synchronous pulleys 54 are connected by shaft, and the internal rail driving motor drives
Move one of them second synchronous pulley 54 and then another first synchronous pulley 54 driven to rotate together, thus realize synchronize it is dynamic
Make, avoids opening the door caused by due to door skew unsmooth.
In an embodiment of the present invention, the driving motor component 51 includes outer rail driving motor and internal rail driving electricity
Machine is respectively used to drive first synchronous pulley 52 and second synchronous pulley 54.
Preferably, the driving motor component 51 drives the first synchronous pulley of one or more on first door track 1
52 and second door track 2 on the second synchronous pulley of one or more 54, two on two the first door tracks 1 at relative position
First synchronous pulley 52 is connected by roller bearing, and two the second synchronous pulleys 54 on two the second door tracks 2 at relative position pass through
Roller bearing is connected.
It should be noted that the driving motor component 51 can be built in the storing bin, as depicted in figs. 1 and 2；?
It can be placed outside the storing bin, as shown in Figure 3 and Figure 4.
As depicted in figs. 1 and 2, in an embodiment, the storing bin of the utility model includes：
Above-mentioned storing bin door；
Several parcel shelf 6 are horizontally set in the storing bin warehouse；The parcel shelf 6 includes two daughter boards 61, described
The fixing end of two daughter boards 61 is respectively fixedly disposed on two opposite sides of the storing bin, the movable end of the daughter board 61
It can be rotated upwardly and downwardly simultaneously around the fixing end；
With the one-to-one parcel shelf driving assembly 7 of the parcel shelf 6, for driving the movable end of described two daughter boards 61
It is rotated upwardly and downwardly simultaneously around fixing end, to realize the opening and closing of the parcel shelf.
Specifically, the fixing end of the daughter board 61 may be provided on any pair of opposite flank of the storing bin.Described two
A daughter board 61 can wait greatly, or arbitrary size ratio.When glove, all parcel shelf are opened, and article is placed on
Lower layer；After article is placed, the parcel shelf above article can be closed, to continue to place article.When taking object, on parcel shelf
Takeaway after, openable parcel shelf, in order to take the article below parcel shelf away.Therefore, by controlling the two of parcel shelf
A daughter board is opened simultaneously or is closed, and the flexible allocation in storing bin space may be implemented, and the flexible pick-and-place of article, pole also may be implemented
The earth improves utilization rate in storing bin space.
In an embodiment of the present invention, the parcel shelf driving assembly 7 include motor 71, synchronous belt driving wheel 72,
Synchronous belt driven wheel 73, synchronous belt 74, synchronous belt fixing piece 75, at least two optical axises 76 and two parcel shelf connecting rods 77.
The synchronous belt driving wheel 72 and the synchronous belt driven wheel 73 are disposed longitudinally on the storing bin side wall, described
At least two optical axises 76 are disposed longitudinally on the storing bin side wall；The motor 71 is connected with the synchronous belt driving wheel 72,
The synchronous belt 74 is set on the synchronous belt driving wheel 72 and the synchronous belt driven wheel 73, the synchronous belt fixing piece 75
It is connected with the synchronous belt 74, and is set on the optical axis 76；
One end of described two parcel shelf connecting rods 77 is rotatably connected, and the other end is connect with described two daughter boards 61 respectively；
The connecting pin of described two parcel shelf connecting rods 77 is connect with the synchronous belt fixing piece 75, with the band when the synchronization 74 is with movement
Described two daughter boards 61 are moved to open simultaneously or close.
In an embodiment of the present invention, the first door 3 of the storing bin door and the phase of the second door 4 are from one end
Between height no more than the height between two neighboring parcel shelf.Specifically, according to the setting parameter of each parcel shelf, can lead to
It crosses and controls the driving motor component and set adjacent two from the height between one end for the phase of the first door and the second door
Height between a parcel shelf consequently facilitating different users takes out the article of oneself, while ensure that other users article
Safety and privacy.
Preferably, the number of the parcel shelf is 2.
Preferably, the bottom of the storing bin can be used as a parcel shelf, can also set in the bottom of the storing bin
Set a fixed parcel shelf.
The transportation robot of the utility model, including above-mentioned storing bin door or above-mentioned storing bin.
In conclusion door and warehouse conjunction two are by the storing bin door, storing bin and transportation robot of the utility model
One, realize door any position opening；Greatly reduce the space layout difficulty to the parcel shelf in storing bin；Greatly place
User place and take article away, improve user experience；Door track itself constitutes warehouse profile, saves track sky
Between；The daughter board that parcel shelf can be automatically opened and be closed by two pieces forms, and realizes the adjusting of storage space, greatly improves storage
The space utilization rate and service efficiency in object storehouse.So the utility model effectively overcomes various shortcoming in the prior art and has
High industrial utilization value.
The above embodiments are only illustrative of the principle and efficacy of the utility model, and not for limitation, this is practical new
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 or change completed under mind and technical idea, should be covered by the claim of the utility model.
Claims (10)
1. a kind of storing bin door, it is characterised in that：Including：
A pair of first door track, sets up separately on two opposite sides of storing bin；
A pair of second door track, sets up separately on two opposite sides of storing bin, second door track and first door track exist
Projection on same side is intersected but is not overlapped；
First door is arranged between the pair of first door track；
Second door is arranged between the pair of second door track；
Door driving mechanism, for driving first door and second door respectively along the pair of first door track and
The pair of second door track is mobile.
2. storing bin door according to claim 1, it is characterised in that：The door driving mechanism includes：
Driving motor component；
Several first synchronous pulleys are arranged on the pair of first door track；
Two the first synchronous belts, each first synchronous belt are set on the first synchronous pulley on first door track, and with institute
The a side for stating the first door is connected, to rotate in turn under the driving of the driving motor component with first synchronous pulley
First door is driven to move along the pair of first door track；
Several second synchronous pulleys are separately positioned on the pair of second door track；
Two the second synchronous belts, each second synchronous belt are set on the second synchronous pulley on second door track, and with institute
The a side for stating the second door is connected, to rotate in turn under the driving of the driving motor component with second synchronous pulley
Second door is driven to move along the pair of second door track.
3. storing bin door according to claim 2, it is characterised in that：The driving motor component includes outer rail driving electricity
Machine and internal rail driving motor are respectively used to drive first synchronous pulley and second synchronous pulley.
4. storing bin door according to claim 2, it is characterised in that：The driving motor Component driver one first
The second synchronous pulley on the first synchronous pulley and second door track on rail, on two the first door tracks at relative position two
A first synchronous pulley is connected by roller bearing, and two the second synchronous pulleys on two the second door tracks at relative position pass through roller bearing
It is connected.
5. storing bin door according to claim 1, it is characterised in that：First door track and second door track are
Square round rectangle track.
6. storing bin door according to claim 1, it is characterised in that：First door track on same side and described
Second door track is located on different vertical guides.
7. a kind of storing bin, it is characterised in that：Including：
Storing bin door described in one of claim 1-6；
Several parcel shelf are horizontally set in the storing bin warehouse；The parcel shelf includes two daughter boards, described two daughter boards
Fixing end be respectively fixedly disposed on two opposite sides of the storing bin, the movable end of the daughter board can be simultaneously around institute
Fixing end is stated to rotate upwardly and downwardly；
With the one-to-one parcel shelf driving assembly of the parcel shelf, for driving the movable end of described two daughter boards simultaneously around solid
Fixed end rotates upwardly and downwardly, to realize the opening and closing of the parcel shelf.
8. storing bin according to claim 7, it is characterised in that：The parcel shelf driving assembly includes motor, synchronous belt
Driving wheel, synchronous belt driven wheel, synchronous belt, synchronous belt fixing piece, at least two optical axises and two parcel shelf connecting rods；
The synchronous belt driving wheel and the synchronous belt driven wheel are disposed longitudinally on the storing bin side wall, and described at least two
Optical axis is disposed longitudinally on the storing bin side wall；The motor is connected with the synchronous belt driving wheel, and the synchronous belt is arranged
On the synchronous belt driving wheel and the synchronous belt driven wheel, the synchronous belt fixing piece is connected with the synchronous belt, and covers
It is located on the optical axis；
One end of described two parcel shelf connecting rods is rotatably connected, and the other end is connect with described two daughter boards respectively；It is described two
The connecting pin of parcel shelf connecting rod is connect with the synchronous belt fixing piece, to drive described two daughter boards when the synchronous belt is mobile
It opens simultaneously or closes.
9. storing bin according to claim 7, it is characterised in that：The number of the parcel shelf is 3.
10. a kind of transportation robot, it is characterised in that：It is wanted including storing bin door or right described in one of claim 1-6
Seek storing bin described in one of 7-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820587648.7U CN208135237U (en) | 2018-04-24 | 2018-04-24 | A kind of storing bin door, storing bin and transportation robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820587648.7U CN208135237U (en) | 2018-04-24 | 2018-04-24 | A kind of storing bin door, storing bin and transportation robot |
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| CN208135237U true CN208135237U (en) | 2018-11-23 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108557357A (en) * | 2018-04-24 | 2018-09-21 | 上海有个机器人有限公司 | A kind of storing bin door, storing bin and transportation robot |
| CN110789637A (en) * | 2019-12-05 | 2020-02-14 | 苏州博众机器人有限公司 | Transport robot |
-
2018
- 2018-04-24 CN CN201820587648.7U patent/CN208135237U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108557357A (en) * | 2018-04-24 | 2018-09-21 | 上海有个机器人有限公司 | A kind of storing bin door, storing bin and transportation robot |
| CN110789637A (en) * | 2019-12-05 | 2020-02-14 | 苏州博众机器人有限公司 | Transport robot |
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