CN210879670U - Opening and closing driving device of hatch cover, storage device and service robot - Google Patents
Opening and closing driving device of hatch cover, storage device and service robot Download PDFInfo
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- CN210879670U CN210879670U CN201921502506.7U CN201921502506U CN210879670U CN 210879670 U CN210879670 U CN 210879670U CN 201921502506 U CN201921502506 U CN 201921502506U CN 210879670 U CN210879670 U CN 210879670U
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Abstract
The utility model discloses an open and close drive arrangement, storage device and service robot of cabin cover, wherein, open and close drive arrangement and include: the swinging seat is provided with an installation part used for being fixedly connected with the hatch cover, a first hinge part positioned on one side of the installation part and a second hinge part positioned below the installation part; a connecting rod, one end of which is connected with the second hinge part; the crank is hinged with the other end of the connecting rod; the actuator is in driving connection with the crank so as to drive the swinging seat to swing around the first hinge part; when the crank is located at the first position, the swinging seat enables the hatch cover to close the opening of the goods compartment; when the crank is located at the second position, the swinging seat drives the hatch cover to open the opening of the goods compartment.
Description
Technical Field
The utility model relates to an intelligent robot's technical field, concretely relates to drive arrangement, storage device and service robot open and close of cabin cover.
Background
With the progress and development of society, the intelligent service robot gradually replaces part of artificial services. At present, the intelligent service robot is mainly applied to office buildings and hotels and mainly performs service work of voice conversation and indoor guidance. And the intelligent service robot in the current stage is provided with an article cabin, and has the capability of transporting articles to a specified place, such as food delivery, express delivery and the like.
In the course of implementing the present invention, the applicant has found that the existing products have at least the following problems:
part of service robots adopt motors and gear sets to drive a hatch cover to open and close, such as a gear mechanism door opening system, a vehicle and a robot disclosed by the application number 201520754287.7 in China; the application number of China CN201520754235.X discloses a double-door switch system, a vehicle and a robot. The service robot of the type has relatively high noise and high cost of the gear worm.
For example, a storage device for a robot disclosed in application No. 201710832657.8, a hatch opening and closing mechanism disclosed in application No. 201811649222.0, and a robot are also disclosed. This type of drive arrangement is complicated in construction, and the assembly is maintained troublesome, and is costly.
SUMMERY OF THE UTILITY MODEL
In order to overcome the hatch cover drive arrangement structure complicacy of above-mentioned current robot, with high costs technical defect, the utility model provides a drive arrangement, storage device and service robot open and close of hatch cover.
In order to solve the above problem, the utility model discloses realize according to following technical scheme:
an open and close drive arrangement of cabin cover, include:
the swinging seat is provided with an installation part used for being fixedly connected with the hatch cover, a first hinge part positioned on one side of the installation part and a second hinge part positioned below the installation part;
a crank driven by an actuator;
one end of the connecting rod is hinged with the second hinged part, and the other end of the connecting rod is hinged with the crank; the crank, the connecting rod and the swinging seat form a crank-rocker mechanism;
the actuator drives the crank to rotate so as to drive the swinging seat to swing around the first hinge part; when the crank is located at the first position, the swinging seat enables the hatch cover to close the opening of the goods compartment; when the crank is located at the second position, the swinging seat enables the hatch cover to open the opening of the goods compartment.
Preferably, the actuator drives the crank to oscillate the crank from the first position in a forward direction to the second position and from the second position in a reverse direction back to the first position.
Preferably, when the crank is in the first position, the crank is arranged non-collinear with the connecting rod to avoid a dead point of the crank-rocker mechanism.
Preferably, the opening and closing driving device further comprises a fixed seat fixedly connected with an external component, and the fixed seat is hinged with the first hinge part through a rotating shaft so that the swinging seat swings around the first hinge part.
Preferably, the first hinge part and the second hinge part are both provided with a through hole for hinging.
Preferably, the mounting part is provided with a mounting plane provided with a plurality of through holes, and the mounting part is detachably connected with the hatch cover through bolts.
Preferably, the range of the swing angle of the swing seat driving the hatch cover is 0-100 degrees.
Preferably, the actuator comprises a mounting seat and a servo motor fixedly connected to the mounting seat; and an output shaft of the servo motor is in driving connection with the crank.
The utility model also provides a storage device, including article cabin and cabin cover, still include foretell drive arrangement that opens and close, it is connected with the cabin cover to open and close drive arrangement.
The utility model also provides a service robot, including article cabin and cabin cover, still include foretell drive arrangement that opens and close, it is connected with the cabin cover to open and close drive arrangement.
Compared with the prior art, the beneficial effects of the utility model are that:
1. the utility model drives the crank through the actuator and drives the swing seat through the connecting rod so as to drive the hatch cover to complete the opening and closing action; the actuator, the crank, the connecting rod and the swinging seat form a crank-rocker mechanism to drive the hatch cover. The opening and closing driving device has small moment and small noise, and is favorable for prolonging the service life of the actuator. Simultaneously, compare current product, the utility model discloses a transmission structure, mode are more simple, also maintain easily and change, reduce the maintenance cost.
2. In the existing product, most of hatch covers are hinged on a robot, and a transmission part of the hatch covers is directly connected with the hatch covers; when the connecting part between the hatch and the transmission part is damaged, the whole hatch needs to be replaced, the cost is high, and the hatch can be detached only by disassembling the shell of the robot. The utility model connects the hatch cover through a swing seat, and the two are independent individuals. The structure of the hatch cover is simplified through the swing seat, the hatch cover can be replaced when the swing seat is damaged, the hatch cover does not need to be replaced, and the hatch cover can be directly detached from the swing seat, so that the hatch cover is simple and convenient to use.
Drawings
The following detailed description of embodiments of the invention is provided with reference to the accompanying drawings, in which:
fig. 1 is a schematic perspective view of the crank of the present invention in a first position;
fig. 2 is a schematic perspective view illustrating the forward swing of the crank from the first position to the second position according to the present invention;
fig. 3 is a schematic perspective view of the crank of the present invention in a second position;
fig. 4 is an assembled perspective view of the opening and closing driving device of the present invention;
fig. 5 is a schematic view of the crank of the present invention positioned at the first position and not collinear with the connecting rod;
FIG. 6 is an enlarged view of part A of the present invention;
fig. 7 is a schematic side view of the crank of the present invention swinging positively from a first position to a second position;
fig. 8 is a schematic view of the crank structure of the present invention;
FIG. 9 is a schematic structural view of the swing seat of the present invention;
in the figure:
10-crank, 11-crank shaft, 12-first connecting part, 13-second connecting part;
20-connecting rod, 21-long rod and 22-rod end joint bearing
30-swinging seat, 31-installation part, 311-installation plane, 32-first hinge part and 33-second hinge part;
40-fixed seat
50-an actuator;
60-a hatch cover;
70-article compartment.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are presented herein only to illustrate and explain the present invention, and not to limit the present invention.
As shown in fig. 1 to 9, it is a preferable structure of the opening and closing driving device of the hatch cover according to the present invention.
As shown in fig. 4, the opening and closing driving device includes an actuator 50, a crank 10, a connecting rod 20, a swing seat 30, and a fixed seat 40. The swing seat 30 is fixedly connected with the hatch cover 60, the actuator 50, the crank 10, the connecting rod 20, the swing seat 30 and the fixed seat 40 form a crank rocker mechanism, and when the actuator 50 drives the crank 10 to swing, the hatch cover 60 is swung, so that the hatch cover 60 is automatically opened and closed.
In this embodiment, the fixing base 40 is fixedly disposed, and the fixing base 40 is used for connecting with an external component, for example, the fixing base 40 is fixedly connected to a frame of the robot. The swing seat 30 is hinged to the fixed seat 40, and the swing seat 30 can swing around the hinged position of the swing seat 30 and the fixed seat 40.
The connecting rod 20 is used for connecting the crank 10 and the swinging seat 30, one end of the connecting rod 20 is hinged with the crank 10, and the other end of the connecting rod 20 is hinged with the swinging seat 30 for transmission.
The utility model discloses a theory of operation does: the crank is a driving part, the swinging seat is a driven part, and the swinging seat is equivalent to a rocker in a crank rocker mechanism. When the actuator drives the crank to rotate, the swinging seat swings within a certain angle range through the transmission of the connecting rod so as to drive the hatch cover to open or close.
As shown in fig. 8, the crank 10 is a crank shaft 11, and the crank shaft 11 is a flat plate.
As shown in fig. 8, one end of the crank shaft 11 is a first connecting portion 12 for drivingly connecting the crank 10 with the actuator 50, the first connecting portion 12 is a laterally extending short cylindrical structure, and the axis of the first connecting portion 12 is perpendicular to the surface of the crank shaft 11. The middle of the first connecting portion 12 is formed with a shaft hole for receiving the output shaft of the actuator 50.
As shown in fig. 8, the other end of the crank shaft 11 is a second connecting portion 13 for hinging the crank 10 with the connecting rod 20, the second connecting portion 13 is a short cylindrical structure extending transversely, and the axis of the second connecting portion 13 is perpendicular to the surface of the crank shaft 11. The middle part of the second connecting part 13 is provided with a through shaft hole, and the shaft hole is hinged with the connecting rod 20 through a pin shaft.
Further, the outer diameter of the crank shaft 11 is gradually reduced from the first connecting portion 12 to the second connecting portion 13; and the second connection portion 13 has a much smaller diameter than the first connection portion 12. And the crank shaft 11 is provided with a reinforcing rib, one end of the reinforcing rib is connected with the first connecting part 12, and the other end of the reinforcing rib is connected with the second connecting part 13.
As shown in fig. 9, the top of the swing seat 30 is a mounting portion 31, and the mounting portion 31 has a mounting plane, and the mounting plane is connected with the bottom of the hatch cover 60; specifically, a plurality of through holes are formed in the mounting plane, and the mounting portion 31 is fixedly connected with the hatch cover 60 through bolts.
As shown in fig. 9, the swing seat 30 is provided with a first hinge portion 32 extending transversely at one side of the mounting portion 31, the first hinge portion 32 is provided with a through hole for penetrating through two ends of the hinge, and the first hinge portion 32 is hinged to the fixed seat 40 through a rotating shaft, so that the swing seat 30 can swing around the first hinge portion 32.
It should be noted that, in this embodiment, the fixed seat 40 is not an essential component, and the swing seat 30 may be directly hinged to the frame of the service robot or the cabin of the goods cabin. The fixing seat 40 is an optimal part, and the fixing seat 40 is arranged, so that the structural design of the rack or the object cabin is simplified, and the opening and closing driving device is convenient to maintain. And connect external member through fixing base 40, realize this drive arrangement that opens and close and can install under multiple structure, make the commonality of opening and close drive arrangement strong.
Specifically, the fixing base 40 is detachably connected to the external member by a bolt. The present invention is not limited to the structural shape of the fixing base 40, and can be implemented by those skilled in the art.
As shown in fig. 9, the swing seat 30 is provided with a second hinge portion 33 protruding downward below the mounting portion 31, and the second hinge portion 33 is hinged to the link 20.
As shown in fig. 4 and 7, the link 20 includes a long rod 21, and rod end joint bearings 22 respectively attached to both ends of the long rod 21. The rod end joint bearing 22 is in threaded connection with the long rod 21. One of the rod end joint bearings 22 of the connecting rod 20 is hinged with the second connecting part 13 of the crank 10 through a rotating shaft. The other rod end joint bearing 22 of the connecting rod 20 is hinged with the second hinge part 33 of the swinging seat 30 through another rotating shaft.
As shown in fig. 4, the actuator 50 includes a fixing base 40, and a servo motor having a reducer and connected to the fixing base 40. The actuator 50 is located below the hatch 60. The output shaft of the servo motor is connected to the first connecting portion 12 of the crank 10.
Specifically, the actuator 50 drives the crank 10 to positively oscillate the crank 10 from the first position to the second position and from the second position back to the first position.
As shown in fig. 1, which is a perspective view of the crank 10 in the first position. When the crank 10 is in the first position, the swing seat 30 of the crank and rocker mechanism closes the hatch 60 to cover the opening of the article compartment 70.
As shown in fig. 3, which is a perspective view of the crank 10 in the second position. When the crank 10 is in the second position, the swing seat 30 of the crank-rocker mechanism drives the hatch 60 to open the opening of the article compartment 70.
In the present embodiment, as shown in fig. 1 to 3, the actuator 50 drives the crank 10 to continuously switch between the first position and the second position to automatically open and close the hatch 60. The open and close principle of the crank 10 rocker structure of the present invention is known to those skilled in the art, and the description thereof is omitted.
Specifically, the actuator 50 of the present invention is used to drive the crank 10 to repeatedly swing, and the crank 10 does not perform cyclic equidirectional rotation. Through the design, the action of the actuator is simplified, only the output shaft of the servo motor needs to rotate forward and backward for a certain angle, and the design requirement on the driving crank of the actuator is low. And the crank 10 is prevented from constantly passing the dead center position of the crank rocker mechanism.
Preferably, in this embodiment, as shown in fig. 5 and 6, when the crank 10 is in the first position, the crank 10 is not arranged in line with the connecting rod 20, thereby avoiding the dead point position of the crank-rocker mechanism.
Through the design, when the opening and closing driving device is maintained, the hatch cover 60 may need to be opened through external force, if the hatch cover 60 is closed, the external force acts on the hatch cover 60, the hatch cover 60 drives the swinging seat 30 to swing, and then the swinging seat 30 becomes a driving part, and the crank 10 becomes a driven part. If the crank 10 is collinear with the connecting rod 20, i.e. in the dead centre position of the crank-rocker mechanism, there is the problem that the hatch 60 cannot be opened. The non-alignment of the crank 10 and the connecting rod 20 solves the problem well without opening the housing of the service robot, facilitating inspection and maintenance.
The utility model discloses preferably, the rocker drives the swing angle of cabin cover and is 0 ~ 100. The angle range ensures that the hatch cover does not occupy too large space in the opening process and after being opened, and the opening angle is convenient for a user to take and place articles.
The utility model discloses according to crank and rocker mechanism's transmission principle, when the crank is the initiative piece, the articulate rotates so that the swing seat reciprocated, realizes opening and close of cabin cover. The opening and closing device for the object cabin can be applied to the side-hung opening, top-hung or bottom-hung opening, top-turnover opening and the like of the cabin cover, and has strong universality.
Preferably, the actuator 50 further comprises a control element connected to the servo motor. When the crank 10 swings from the first position to the second position and swings from the second position to the first position, the control element acquires the current value of the servo motor and judges whether the current value is greater than a threshold value; if yes, the servo motor is controlled to rotate reversely.
Through the design, the hand clamping prevention of the opening and closing device of the goods cabin can be realized; in the prior art, when the servo motor normally rotates, if the resistance suddenly increases, the current of the servo motor increases instantly. Whether a related obstacle prevents the hatch cover from acting or not in the opening or closing process of the hatch cover is judged by detecting the current value of the servo motor; if the obstacle appears, the control unit acquires the current value and judges whether the current value exceeds a threshold value, and if so, the control unit controls whether the motor rotates reversely so as to realize the function of preventing hands from being clamped.
The utility model also provides a storage device, including article cabin and cabin cover, still include foretell drive arrangement that opens and close, it is connected with the cabin cover to open and close drive arrangement to realize the automatic start-stop of cabin cover.
The utility model also provides a service robot, including article cabin and cabin cover, still include foretell drive arrangement that opens and close, it is connected with the cabin cover to open and close drive arrangement to realize the automatic start-stop of cabin cover.
Other structures of the opening and closing driving device of the hatch cover, the storage device and the service robot are shown in the prior art.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, so that any modification, equivalent change and modification made by the technical spirit of the present invention to the above embodiments do not depart from the technical solution of the present invention, and still fall within the scope of the technical solution of the present invention.
Claims (10)
1. An opening and closing driving device of a hatch cover is characterized by comprising:
the swinging seat is provided with an installation part used for being fixedly connected with the hatch cover, a first hinge part positioned on one side of the installation part and a second hinge part positioned below the installation part;
a crank driven by an actuator;
one end of the connecting rod is hinged with the second hinged part, and the other end of the connecting rod is hinged with the crank; the connecting rod, the crank and the swinging seat form a crank-rocker mechanism;
wherein, the actuator drives the crank to rotate so as to drive the swinging seat to swing back and forth around the first hinge part;
when the crank is located at the first position, the swinging seat enables the hatch cover to close the opening of the goods compartment; when the crank is located at the second position, the swinging seat enables the hatch cover to open the opening of the goods compartment.
2. The hatch opening and closing drive device according to claim 1, characterized in that it comprises:
the actuator drives the crank to swing the crank in a forward direction from the first position to the second position and in a reverse direction from the second position back to the first position.
3. The hatch opening and closing drive device according to claim 1, characterized in that it comprises:
when the crank is in the first position, the crank is disposed non-collinear with the connecting rod to avoid a dead center of the crank and rocker mechanism.
4. The hatch opening and closing drive device according to claim 1, characterized in that:
the opening and closing driving device further comprises a fixed seat fixedly connected with an external component, and the fixed seat is hinged with the first hinged part through a rotating shaft so that the swinging seat swings around the first hinged part.
5. The hatch opening and closing drive device according to claim 4, characterized in that it comprises:
the first hinge part and the second hinge part are both provided with through holes for hinging.
6. The hatch opening and closing drive device according to claim 4, characterized in that it comprises:
the installation part is provided with an installation plane provided with a plurality of through holes and is detachably connected with the hatch cover through bolts.
7. The hatch opening and closing drive device according to claim 1, characterized in that it comprises:
the swing seat drives the hatch cover to swing within the range of 0-100 degrees.
8. The hatch opening and closing drive device according to claim 1, characterized in that it comprises:
the actuator comprises a mounting seat and a servo motor fixedly connected to the mounting seat; and an output shaft of the servo motor is in driving connection with the crank.
9. A storage device comprising an article compartment and a lid, characterized by further comprising an opening and closing drive device according to any one of claims 1 to 8, said opening and closing drive device being connected to the lid.
10. A service robot, comprising a goods cabin and a cabin cover, characterized by further comprising an opening and closing driving device according to any one of claims 1 to 8, wherein the opening and closing driving device is connected with the cabin cover.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921502506.7U CN210879670U (en) | 2019-09-10 | 2019-09-10 | Opening and closing driving device of hatch cover, storage device and service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921502506.7U CN210879670U (en) | 2019-09-10 | 2019-09-10 | Opening and closing driving device of hatch cover, storage device and service robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210879670U true CN210879670U (en) | 2020-06-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921502506.7U Active CN210879670U (en) | 2019-09-10 | 2019-09-10 | Opening and closing driving device of hatch cover, storage device and service robot |
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| CN (1) | CN210879670U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114084548A (en) * | 2021-11-04 | 2022-02-25 | 上海拓牛智能科技有限公司 | Opening and closing cover mechanism of garbage can and intelligent garbage can |
-
2019
- 2019-09-10 CN CN201921502506.7U patent/CN210879670U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114084548A (en) * | 2021-11-04 | 2022-02-25 | 上海拓牛智能科技有限公司 | Opening and closing cover mechanism of garbage can and intelligent garbage can |
| CN114084548B (en) * | 2021-11-04 | 2023-10-24 | 上海拓牛智能科技有限公司 | Cover opening and closing mechanism of garbage can and intelligent garbage can |
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