CN212556572U

CN212556572U - Door opening robot

Info

Publication number: CN212556572U
Application number: CN202021320482.6U
Authority: CN
Inventors: 秦英林; 张玉良; 李金运; 刘闯; 张健
Original assignee: Muyuan Foods Co Ltd
Current assignee: Muyuan Foods Co Ltd
Priority date: 2020-07-07
Filing date: 2020-07-07
Publication date: 2021-02-19
Anticipated expiration: 2030-07-07

Abstract

The utility model discloses a door opening robot, which comprises a vehicle body for walking; the support frame is arranged on the vehicle body; the stop arm mechanism is arranged at the top of the support frame; wherein, keep off arm mechanism includes: the mounting platform is connected with the support frame; the arm rod is horizontally arranged on the mounting platform and used for abutting against the pushing handle of the movable ring door. The door-opening robot can replace manual work to open and close the movable ring door in the colony house, and the possibility of epidemic outbreak in the farm is reduced.

Description

Door opening robot

Technical Field

The utility model relates to an automatic breed technical field, especially relate to a robot opens door.

Background

In the large-scale breed trade, take the pig raising factory as an example, mostly be the standardized pig house of construction, and under general condition, divide into a plurality of unit columns in the pig house to along with the propulsion of automatic breeding technique, will replace artifical entering unit column to work through multiple robot, can avoid breeding the staff and carry the pathogenic bacteria and get into the plant simultaneously. At present, the unit door of current unit column is mostly the plug-type movable ring door of flat-open, and lacks the device that can replace artifical switch ring door in the plant.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a robot opens door, this robot opens door can replace the manual work to realizing the switch of colony house well movable ring door, has reduced the possibility of outbreak pestilence in the plant.

In order to achieve the above object, the utility model provides a door opening robot, include: a vehicle body for traveling; the support frame is arranged on the vehicle body; the stop arm mechanism is arranged at the top of the support frame; wherein, keep off arm mechanism includes: the mounting platform is connected with the support frame; the arm rod is horizontally arranged on the mounting platform and used for abutting against the pushing handle of the movable ring door.

Optionally, the arm is specifically a telescopic rod, wherein the supporting end of the telescopic rod is fixed to the first end of the mounting platform, the telescopic end of the telescopic rod faces the second end of the mounting platform, and the telescopic rod is electrically connected to the vehicle body.

Optionally, a detector for detecting the relative position of the pushing handle and the telescopic rod is arranged at the second end of the mounting platform, and the detector is electrically connected with the vehicle body to control the vehicle body to stop running.

Optionally, the detector is a camera.

Optionally, the automobile body is equipped with distance measuring sensor, distance measuring sensor's both ends are used for detecting respectively the distance between the both ends of automobile body to the movable ring door.

Optionally, the distance measuring sensor is specifically a laser distance measuring sensor.

Optionally, the body has crawler wheels; the arm rod is perpendicular to the walking direction of the crawler belt walking wheels.

Compared with the prior art, the utility model provides a robot that opens door drives the switching that the promotion handle that keeps off arm mechanism and movable ring door realized the movable ring door through the automobile body. Particularly, keep off arm mechanism and pass through the support frame and link to each other with the automobile body, and the support frame is raised and is kept off arm mechanism and make its top that can be located the sliding ring door simultaneously, and at the in-process that the automobile body removed, the armed lever in keeping off arm mechanism can offset with the promotion handle at sliding ring door top, makes sliding ring door and promotion handle move along with this door opening robot simultaneously, and then accomplishes the automation mechanized operation of switch door.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a breeding house in the prior art;

fig. 2 is a schematic structural view of a door opening robot provided by the present invention;

FIG. 3 is a front view of FIG. 2;

FIG. 4 is a schematic structural view of the arm stop mechanism of FIG. 2;

wherein the content of the first and second substances,

01-fixed wall, 02-movable ring door, 021-pushing handle, 03-push-pull track, 1-vehicle body, 11-crawler traveling wheel, 2-support frame, 3-arm blocking mechanism, 31-mounting platform, 32-arm rod, 4-detector and 5-distance measuring sensor.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In order to make the technical field of the present invention better understand, the present invention will be described in detail with reference to the accompanying drawings and the detailed description.

Before this, a simple introduction is made to the structure of the breeding house: as shown in fig. 1, the breeding house is enclosed by a fixed wall 01 and a movable ring door 02, and the movable ring door 02 is connected with a push-pull track 03, so that the movable ring door 02 can move along the horizontal extension direction of the fixed wall 01, and the movable ring door 02 can be opened and closed; in addition, the top of the moving door 02 is provided with a pushing handle 021 as an acting point of the moving door 02.

Referring to fig. 2 to 4, fig. 2 is a schematic structural diagram of a door opening robot according to the present invention; FIG. 3 is a front view of FIG. 2; fig. 4 is a schematic structural diagram of the arm blocking mechanism in fig. 2.

The utility model provides a robot opens door, as shown in fig. 2 and 3, this robot opens door mainly includes: the vehicle comprises a vehicle body 1, a support frame 2 and a blocking arm mechanism 3. The vehicle body 1 can walk, the support frame 2 is arranged above the vehicle body, and the arm blocking mechanism 3 is arranged at the top end of the support frame 2 so as to play a role in lifting the position of the arm blocking mechanism 3 through the support frame 2; as shown in fig. 4, the arm blocking mechanism 3 specifically includes a mounting platform 31 and an arm lever 32, the mounting platform 31 is fixedly connected to the support frame 2, the arm lever 32 is horizontally disposed on the top of the mounting platform 31, and the arm lever 32 protrudes out of the mounting platform 31, so that it can abut against a pushing handle 021 on the top of the moving door 02.

The working principle of the door opening robot is explained by combining the structure of the door opening robot: first, the vehicle body 1 is positioned near the swing door 02, then the vehicle body 1 moves along the horizontal extending direction of the swing door 02 so that the arm 32 abuts against the push handle 021, and finally the vehicle body 1 moves according to the opening and closing requirements of the swing door 02 so that the arm 32 applies a driving force to the push handle 021, thereby moving the swing door 02 in the opening direction or the closing direction.

In consideration of the need to move the arms 32 to both sides of the push handle 021 when controlling the opening and closing of the moving-coil door 02, in order to reduce the travel complexity of the vehicle body 1 to ensure that the push rod can quickly reach from one side of the push handle 021 to the other side, a first embodiment is given here: the arm 32 is a telescopic rod, wherein a supporting end (i.e., a non-movable end) of the telescopic rod is fixed to a first end of the mounting platform 31, and a telescopic end (i.e., a movable end) of the telescopic rod is disposed toward a second end of the mounting platform 31; preferably, the telescopic rod is a pneumatic telescopic rod.

Specifically, before the position of the movable door 02 needs to be adjusted, the telescopic rod abuts against one side of the push handle 021, when the position of the movable door 02 needs to be adjusted, the telescopic rod retracts the movable end into the non-movable end, then the vehicle body 1 moves forward to enable the telescopic rod to be located on the other side of the push handle 021 in the horizontal extending direction of the movable door 02, then the telescopic rod extends the movable end outwards to the other side of the push handle 021, and finally the vehicle body 1 moves reversely to enable the telescopic rod to abut against the other side of the push handle 021 and control the movable door 02 to move.

It is worth mentioning that the vehicle body 1 should be electrically connected with the telescopic rod, so as to realize the control coordination of the movement of the vehicle body 1 and the telescopic operation of the telescopic rod.

In the second embodiment, as shown in fig. 2 to 4, the second end of the mounting platform 31 is provided with a detector 4, and the detector 4 can determine the relative position of the telescopic rod and the push handle 021, so as to determine whether the vehicle body 1 moves to the other side direction of the push handle 021 when the telescopic rod is retracted. Specifically, the detector 4 is electrically connected to the car body 1, when the telescopic rod retracts from one side of the pushing handle 021, the car body 1 moves in the forward direction, and when the detector 4 detects that the telescopic rod reaches the other side of the pushing handle 021 in the horizontal extension direction of the movable ring door 02, the detector 4 sends a signal to control the car body 1 to stop advancing, then the telescopic rod extends outwards, and finally the car body 1 moves in the reverse direction.

Preferably, the detector 4 is a camera, the viewing angle of the camera is set towards the second end of the mounting platform 31, and the camera can acquire images of the relative positions of the telescopic rod and the push handle 021, so as to acquire the relative positions of the telescopic rod and the push handle 021 in the images to control whether the vehicle body 1 stops running or not.

In the third embodiment, in order to determine whether the distance between the vehicle body 1 and the swing door 02 can make the arm 32 abut against the push handle 021, as shown in fig. 2 to 4, the vehicle body 1 is provided with the distance measuring sensor 5, both ends of the distance measuring sensor 5 can measure the distance, one end of the distance measuring sensor can measure the distance between the first end (i.e., the left end in the view angle of fig. 2) of the vehicle body 1 and the swing door 02, and the other end of the distance measuring sensor can measure the distance between the second end (i.e., the right end in the view angle of fig. 2) of the vehicle body 1 and the swing door 02, so that the vehicle body 1 can adjust the distance between the distance measuring sensor 5 and the swing door 02 to be suitable.

Preferably, the distance measuring sensor 5 is specifically a laser distance measuring sensor.

In the fourth embodiment, in consideration of the ground conditions of a farm, as shown in fig. 2 and 3, the road wheels on the left and right sides of the vehicle body 1 are embodied as crawler road wheels 11; further, the arm 32 is perpendicular to the traveling direction of the crawler belt 11, considering that the crawler belt 11 cannot achieve lateral movement of the vehicle body 1.

It should be noted that, in the description of the present invention, the directions or positional relationships indicated by "top", "forward", "reverse", "left" and "right" are used based on the directions or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but not for limiting the elements or parts referred to must have specific directions, and thus, should not be construed as limiting the present invention. Furthermore, in the present specification, relational terms such as first and second, and the like may be used solely to distinguish one entity from another entity without necessarily requiring or implying any actual such relationship or order between such entities.

It is right above the utility model provides a door opening robot has carried out detailed introduction. The principles and embodiments of the present invention have been explained herein using specific examples, and the above descriptions of the embodiments are only used to help understand the method and its core ideas of the present invention. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, the present invention can be further modified and modified, and such modifications and modifications also fall within the protection scope of the appended claims.

Claims

1. A door opening robot, comprising:

a vehicle body (1) for traveling;

the support frame (2) is arranged on the vehicle body (1);

the stop arm mechanism (3) is arranged at the top of the support frame (2);

wherein the arm blocking mechanism (3) comprises:

a mounting platform (31) connected with the support frame (2);

the arm lever (32) is horizontally arranged on the mounting platform (31) and is used for abutting against a pushing handle (021) of the movable ring door (02).

2. The door-opening robot according to claim 1, characterized in that the arm (32) is embodied as a telescopic rod, wherein a support end of the telescopic rod is fixed to a first end of the mounting platform (31), a telescopic end of the telescopic rod is arranged towards a second end of the mounting platform (31), and the telescopic rod is electrically connected to the vehicle body (1).

3. The door opening robot according to claim 2, characterized in that the second end of the mounting platform (31) is provided with a detector (4) for detecting the relative position of the push handle (021) and the telescopic rod, and the detector (4) is electrically connected with the vehicle body (1) to control the vehicle body (1) to stop running.

4. The door-opening robot according to claim 3, characterized in that the detector (4) is embodied as a camera.

5. The door-opening robot according to any one of claims 1 to 4, characterized in that the vehicle body (1) is provided with a distance measuring sensor (5), and two ends of the distance measuring sensor (5) are respectively used for detecting the distance between two ends of the vehicle body (1) and the movable door (02).

6. The door-opening robot according to claim 5, characterized in that the distance sensor (5) is in particular a laser distance sensor.

7. The door-opening robot according to claim 5, characterized in that the body (1) has crawler wheels (11); the arm rod (32) is perpendicular to the walking direction of the crawler belt walking wheels (11).