CN213165406U - Service robot - Google Patents

Abstract

The utility model relates to the technical field of robot, a service robot is disclosed. The utility model provides a service robot, the mechanism of opening and shutting the door is rotationally installed on the storehouse body of robot through at least two interlock units of different positions, make the door body can all adapt to the special-shaped shell of different robots and move smoothly when opening or closing, the door body can be opened great angle, and can not occupy very big exterior space after the door body is opened completely, facilitate the butt joint of robot and other devices; in addition, the door opening and closing mechanism is driven by the synchronous transmission unit, when the robot breaks down, the door body can be opened by the force for opening the door body by hands which is greater than the tension force of the synchronous transmission unit, and the problems of difficult maintenance and difficult fetching during the failure are solved; the input end of the synchronous transmission unit is provided with the tensioning assembly, the tensioning assembly adjusts the tensioning force of the synchronous transmission unit, the tensioning assembly occupies a small inner space of the robot cabin body, and the space utilization rate of the robot cabin body is improved.

Description

Service robot

Technical Field

The utility model relates to the technical field of robot, especially, relate to a service robot.

Background

At present, robots have entered the lives of the public, and the types and functions of the robots serving the public are more and more. To transporting to be provided with the storehouse on the type robot, the storehouse is equipped with gets the goods mouth, gets goods mouth department and is equipped with the door body that is used for sealing or opening and gets the goods mouth.

Conventionally, a door body provided as a side-by-side door is often connected to a robot body by using a butterfly hinge, a hinge, or a slide hinge as a link. The butterfly hinge and the sliding hinge are large in manufacturing clearance tolerance, the assembling precision requirement of the robot door body cannot be met, and the inner space of the cargo bin can be reduced due to the butterfly hinge and the sliding hinge. The hinged and hinged side-by-side door occupies a large area when the door is opened, for example, when a person stands in front of a robot to take goods, the person needs to retreat one step, and when the robot takes goods in a container, the distance between the robot and the container is too far, so that the requirement on the delivery distance of the container is higher. In addition, the driving mechanism for driving the door body to be opened occupies the inner space of the cabin body of the robot, so that the space utilization rate of the cabin body of the robot is low.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a service robot has improved the space utilization in the robot storehouse body, and the switch door mode of this robot is fit for the robot of various appearances, and application range is wide.

To achieve the purpose, the utility model adopts the following technical proposal:

a service robot, comprising:

a robot cabin body;

the door opening and closing mechanism is rotatably arranged on the robot cabin body through at least two linkage units at different positions, and the at least two linkage units respectively actuate around at least two rotating shafts which are staggered with each other;

the synchronous transmission unit is in driving connection with the door opening and closing mechanism to open and close the robot cabin body along a curved track, the output end of the synchronous transmission unit is connected with one of the linkage units, and the input end of the synchronous transmission unit is provided with a tensioning assembly to adjust the distance between the input end and the output end.

Preferably, the door opening and closing mechanism comprises a first linkage unit, a second linkage unit and a door body, the first linkage unit is rotatably mounted on the robot cabin body through a first shaft, the second linkage unit is rotatably mounted on the robot cabin body through a second shaft, and the first shaft and the second shaft are staggered with each other; the door body comprises a first connecting part and a second connecting part, the first connecting part is pivoted with the outer extending end of the first linkage unit, and the second connecting part is pivoted with the outer extending end of the second linkage unit; furthermore, the first connecting part can act along a circumferential track around the first shaft, the second connecting part can act along a circumferential track around the second shaft, and the door body can act along a curved track; any one of the first linkage unit and the second linkage unit is connected with the synchronous transmission unit.

Preferably, the first linkage unit and the second linkage unit both extend outwards relative to the robot cabin body, and the first linkage unit is in point-surface connection with the door body; the second linkage unit extends along the height direction of the robot cabin body to form a connecting extension surface, and the second linkage unit is connected with the door body surface.

Preferably, the first linkage unit comprises a driving rod, one end of the driving rod is pivoted with the robot cabin body through the first shaft, the other end of the driving rod is pivoted with the door body, the first shaft is connected with the output end of the synchronous transmission unit, and the synchronous transmission unit drives the driving rod to rotate around the first shaft.

Preferably, the synchronous drive unit includes:

a first wheel mounted on the first shaft;

the output end of the driving motor is connected with a second wheel, and the driving motor is installed on the tensioning assembly;

and the first wheel and the second wheel are connected through the synchronous belt in a transmission manner.

Preferably, be equipped with first fixed frame on the robot storehouse body, tensioning assembly includes:

the tensioning mounting seat is mounted on the first fixing frame, and a sliding groove is formed in the tensioning mounting seat;

the tensioning adjusting seat is sleeved and clamped with the tensioning mounting seat, and the driving motor is mounted on the tensioning adjusting seat;

the adjusting block is arranged in the sliding groove in a sliding mode, and the tensioning adjusting seat moves along the sliding groove along with the adjusting block;

the adjusting piece is in driving connection with the adjusting block.

Preferably, the tensioning mount pad includes the tensioning seat, set up on the tensioning seat the spout, the regulating part includes adjusting screw, adjusting screw's one end is worn to establish the both sides wall that the spout is relative, just adjusting screw with the cell wall of spout is adjustable wears to establish, the regulating block spiro union in on the adjusting screw.

Preferably, the tensioning mount pad still includes the connecting plate, on the tensioning seat at least one counter sink has been seted up to the tank bottom of spout, and the one end of counter sink bolt is worn to establish the counter sink with the connecting plate spiro union.

Preferably, the width of both ends of the sliding groove is greater than the width of the middle of the sliding groove.

Preferably, the tensioning is adjusted the seat and is included the drive seat of U type and the motor tensioning who is connected with the drive seat and adjust the seat, the tensioning seat is arranged in the U type inslot of drive seat, and drive seat and the integrative rigid coupling of regulating block and can be relative the tensioning seat removes, driving motor install in on the motor tensioning adjusts the seat.

The utility model has the advantages that: the utility model provides a service robot, the mechanism of opening and shutting the door is rotationally installed on the storehouse body of robot through two at least interlock units of different positions, two at least interlock units actuate around two at least axis of rotation that misplace each other respectively, make the door body all can adapt the special-shaped shell of different robots and move smoothly when opening or closing, the door body can be opened great angle, can not collide the similar object when the door body is opened, and can not occupy very big exterior space after the door body is opened completely, be convenient for the robot to dock with other devices, make the structure of robot compacter; in addition, the door opening and closing mechanism is driven by the synchronous transmission unit, when the robot breaks down, the door body can be opened by the force for opening the door body by hands which is greater than the tension force of the synchronous transmission unit, and the problems of difficult maintenance and difficult fetching during the failure are solved; the input end of the synchronous transmission unit is provided with the tensioning assembly, the tensioning assembly adjusts the tensioning force of the synchronous transmission unit, the tensioning assembly occupies a small inner space of the robot cabin body, and the space utilization rate of the robot cabin body is improved.

Drawings

Fig. 1 is a schematic structural diagram of a service robot provided by an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a door opening and closing mechanism and a synchronous transmission unit provided in an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a door opening and closing mechanism provided in the embodiment of the present invention;

fig. 4 is a schematic structural diagram of a tension assembly provided by an embodiment of the present invention;

figure 5 is an exploded schematic view of a tension assembly provided by an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a tensioning seat according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of a driving seat provided in an embodiment of the present invention;

fig. 8 is a sectional view of section B-B in fig. 4.

In the figure:

1000. a robot body; 1001. a second fixed frame; 1002. a first fixed frame; 1003. a robot cabin body;

1. a door body; 2. a support member; 21. a first support section; 22. a second support section; 3. a drive rod; 4. a fixed block; 5. a door hinge shaft; 61. a first mounting seat; 62. a second mounting seat; 63. connecting blocks; 64. a connecting bolt; 7. a detection module; 71. a first sensor; 72. a second sensor; 73. a limiting member; 8. a first shaft; 9. a second shaft; 10. a synchronous transmission unit; 101. a first wheel; 102. a second wheel; 103. a drive motor; 104. a synchronous belt; 11. a door hinge seat; 12. a tension assembly; 121. a tensioning mounting seat; 1211. a connecting plate; 1212. a tensioning seat; 12121. a countersunk hole; 122. a chute; 123. tensioning and adjusting seats; 1231. driving the seat; 1232. a motor tensioning adjusting seat; 124. an adjusting block; 125. an adjusting member.

Detailed Description

In order to make the technical problem solved by the present invention, the technical solutions adopted by the present invention and the technical effects achieved by the present invention clearer, the following will be described in further detail with reference to the accompanying drawings, and obviously, the described embodiments are only some embodiments of the present invention, but not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by the skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, detachably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

As shown in fig. 1 and fig. 2, the present embodiment provides a service robot, the service robot includes a robot cabin 1003, a door opening and closing mechanism and a synchronous transmission unit 10, the door opening and closing mechanism is rotatably installed on the robot cabin 1003 through at least two linkage units at different positions, and the at least two linkage units respectively actuate around at least two rotation axes which are staggered with each other, the synchronous transmission unit 10 drives the door opening and closing mechanism to open and close the robot cabin 1003 along a curved track, an output end of the synchronous transmission unit 10 is connected with one of the linkage units, and an input end of the synchronous transmission unit 10 is connected with a tensioning component 12 for adjusting a distance between an input end and an output end.

The door opening and closing mechanism is rotatably arranged on the robot cabin body 1003 through at least two linkage units at different positions, the at least two linkage units respectively act around at least two rotating shafts which are staggered with each other, so that the door body 1 can be adapted to special-shaped shells of different robots to move smoothly when being opened or closed, the door body 1 can be opened at a larger angle, the door body 1 cannot collide with a similar object when being opened, and the door body 1 cannot occupy a large external space after being completely opened, so that the robot is convenient to butt joint with other devices, and the structure of the robot is more compact; in addition, the synchronous transmission unit 10 drives the door opening and closing mechanism, when the robot breaks down, the door body 1 can be opened by the force for opening the door body 1 by hands which is larger than the tension force of the synchronous transmission unit 10, and the problems of difficult maintenance and difficult fetching during the failure are solved; the input end of the synchronous transmission unit 10 is provided with the tensioning assembly 12, the tensioning assembly 12 adjusts the tensioning force of the synchronous transmission unit 10, the tensioning assembly 12 occupies a small inner space of the robot cabin 1003, and the space utilization rate of the robot cabin 1003 is improved.

In this embodiment, be provided with two robot storehouse bodies 1003 on the robot, two robot storehouse bodies 1003 set up from top to bottom, and the department of getting goods of every robot storehouse body 1003 all sets up two sets of switching door mechanisms, and the door body 1 of two sets of switching door mechanisms is run from opposite directions and is set up. The door opening and closing mechanism enables the two door bodies 1 which are arranged in a split mode to be aligned when the two door bodies are closed, and attractiveness of the robot is improved.

As shown in fig. 3, the door opening and closing mechanism includes a first linkage unit, a second linkage unit and a door body 1, the first linkage unit is rotatably mounted on the robot cabin body 1003 through a first shaft 8, the second linkage unit is rotatably mounted on the robot cabin body 1003 through a second shaft 9, and the first shaft 8 and the second shaft 9 are staggered with each other; the door body 1 comprises a first connecting part and a second connecting part, the first connecting part is pivoted with the outer extending end of the first linkage unit, and the second connecting part is pivoted with the outer extending end of the second linkage unit; furthermore, the first connecting part can move along a circumferential track around the first shaft 8, the second connecting part can move along a circumferential track around the second shaft 9, and the door body 1 can move along a curved track; any one of the first linkage unit and the second linkage unit is connected with the synchronous transmission unit 10. The first joint of the door body 1 in the service robot is pivoted with the outer extending end of the first linkage unit, the second joint of the door body 1 is pivoted with the outer extending end of the second linkage unit, the first joint can move along a circumferential track around the first shaft 8, the second joint can move along a circumferential track around the second shaft 9, the door body 1 can move along a curved track, the door body 1 can be adapted to special-shaped shells of different robots to move smoothly when being opened or closed, the door body 1 can be opened at a large angle, the door body 1 cannot collide with similar objects when being opened, the door body 1 cannot occupy a large external space after being completely opened, the robot is convenient to be butted with other devices, and the structure of the robot is more compact.

In the present embodiment, the first shaft 8 and the second shaft 9 are parallel to each other and are disposed in a staggered manner, and further, the actuating spaces of the first linking unit and the second linking unit are staggered with each other, so that the first linking unit and the second linking unit do not interfere with each other when moving.

The first linkage unit and the second linkage unit extend outwards relative to the robot cabin body 1003, and the first linkage unit is connected with the door body 1 in a point-surface mode; the second linkage unit extends along the height direction of the robot cabin 1003 to form a connection extension surface, and the second linkage unit is connected with the surface of the door body 1.

In this embodiment, the second linkage unit includes a support 2, one end of the support 2 is pivoted with the robot cabin 1003 through a second shaft 9, and the other end of the support 2 is pivoted with the door 1.

Specifically, the internal wall of the door body 1 is provided with a door hinge base 11 as a second joint, the upper and lower ends of the door hinge base 11 are respectively provided with at least two fixing blocks 4, the support piece 2 extends along the height direction of the robot cabin body 1003 to form a connection extension surface, a door hinge shaft 5 is arranged on the outer side of the connection extension surface in a penetrating manner, the two ends of the door hinge shaft 5 are respectively pivoted with the fixing blocks 4 at the upper and lower ends, and then the door body 1 can be relatively connected with the extension surface to swing. The fixing block 4 is arranged, and the fixing block 4 protrudes out of the surface of the door body 1, so that the supporting piece 2 is connected with the door body 1 conveniently. Different positions of the supporting piece 2 are respectively connected with the fixing blocks 4 through door hinge shafts 5, the door hinge shafts 5 are installed in a segmented mode, the installation difficulty is reduced, the position accuracy of the assembly of the door body 1 is ensured due to the coaxial arrangement of the door hinge shafts 5, and the gap between the door body 1 and the frame of the goods taking opening of the robot cabin body 1003 is reduced.

Further, a first mounting hole is formed in the fixing block 4 and is vertically arranged, and the first mounting holes are coaxially arranged, so that the position accuracy of assembling the door body 1 is further improved. One end of the support piece 2 is provided with a first convex block corresponding to the fixing block 4, the first convex block is provided with a second mounting hole, the second mounting hole is vertically arranged, and the door hinge shaft 5 is convenient to penetrate through the first mounting hole and the second mounting hole to realize the rotation connection of the door body 1 and the support piece 2.

The robot body 1000 is provided with a second fixing frame 1001, the mounting seat is mounted on the second fixing frame 1001, the upper end and the lower end of the mounting seat are respectively provided with at least two connecting blocks 63, the inner side end of the supporting piece 2 is pivoted with the connecting blocks 63 through a second shaft 9, and the second shafts 9 are coaxially arranged, so that the door body 1 can move along a circumferential track relative to the second fixing frame 1001. The different positions of support piece 2 are connected with a plurality of connecting blocks 63 through second shaft 9 respectively, and the installation degree of difficulty has been reduced in the installation of second shaft 9 segmentation, and the position precision of support piece 2 assembly has been ensured in the coaxial setting of a plurality of second shafts 9, reduces the clearance between the frame of door body 1 and the storehouse body 1003 goods mouth of robot.

Further, a third mounting hole is formed in the connecting block 63 and is vertically arranged, and the third mounting holes are coaxially arranged, so that the position accuracy of the assembly of the door body 1 is further improved. The other end of support piece 2 also is equipped with the second lug that corresponds with connecting block 63, is equipped with the fourth mounting hole on the second lug, and the fourth mounting hole is vertical setting also, and the rotation that the second shaft 9 of being convenient for wore to establish third mounting hole and fourth mounting hole in order to realize support piece 2 and mount pad is connected.

In this embodiment, the mounting seat includes a first mounting seat 61 and a second mounting seat 62, the first mounting seat 61 is mounted on the second fixing frame 1001, the second mounting seat 62 is detachably connected to the first mounting seat 61 through a connecting bolt 64, the connecting bolt 64 is exposed on one side of the second mounting seat 62 facing outward, and the connecting block 63 is disposed on the second mounting seat 62. The first mounting seat 61 and the second mounting seat 62 are detachably connected, so that the first mounting seat 61 and the second mounting seat 62 are conveniently mounted on the second fixing frame 1001, and the connecting bolt 64 is mounted from the front side of the second mounting seat 62, so that the door body 1 connected with the support member 2 is conveniently dismounted. In this embodiment, the first mounting base 61 is connected to the second fixing frame 1001 by screws, which facilitates mounting and dismounting of the second mounting base 62. The first and second mounting seats 61 and 62 are provided to quickly realize interference-free rotation of the second shaft 9 on the second fixed frame 1001.

In order to facilitate the door body 1 to be opened and closed without interfering with other parts on the robot and enable the door body 1 to move along the shape of the robot, the support member 2 is provided in a curved shape. Specifically, the support 2 includes a first support section 21 and a second support section 22 connected through bending, the first support section 21 is used for pivoting with the robot body 1000, and specifically, the first support section 21 is connected with the second mounting base 62 through the second shaft 9. The second supporting section 22 is pivotally connected to the door body 1, and specifically, the second supporting section 22 is connected to the fixing block 4 through a door hinge shaft 5. The bending direction of the second support section 22 relative to the first support section 21 is consistent with the opening direction of the door body 1, so that the second support section can conveniently move towards the side part of the robot when the door body 1 is opened, the appearance of the robot is not affected, and the opening angle of the door body 1 can be increased.

As shown in fig. 2 to 8, in this embodiment, the first linkage unit includes a driving rod 3, one end of the driving rod 3 is pivoted with the robot cabin 1003 through a first shaft 8, and the other end of the driving rod 3 is pivoted with the door 1. The output of synchronous drive unit 10 is connected with the one end of primary shaft 8, synchronous drive unit 10 drive actuating lever 3 is rotatory around primary shaft 8, and then realized that door body 1 uses primary shaft 8 to rotate as the center, support piece 2 rotates around secondary shaft 9 simultaneously, make door body 1 use primary shaft 8 and secondary shaft 9 to rotate as the center simultaneously, door body 1 can be along the appearance motion of robot when opening or closing, in the motion process, the front end of single door body 1 is progressively closer to the shell of robot for the rear end of door body 1, and like this, door body 1 can open great angle, can not collide similar object when door body 1 opens.

In this embodiment, the synchronous transmission unit 10 includes a first wheel 101, a driving motor 103 and a synchronous belt 104, the first wheel 101 is installed on the first shaft 8, the output end of the driving motor 103 is connected with a second wheel 102, the driving motor 103 is installed on the tension assembly 12, and the first wheel 101 and the second wheel 102 are in transmission connection through the synchronous belt 104. The driving rod 3 is fixedly connected with the first shaft 8, the driving motor 103 drives the second wheel 102 to rotate, the second wheel 102 rotates to drive the first wheel 101 to rotate through the synchronous belt 104, and then the first shaft 8 is driven to rotate, so that the driving rod 3 rotates around the first shaft 8 to open or close the door body 1. When the robot breaks down, the door body 1 can be opened when the force for opening the door body 1 by hand is greater than the tension force of the synchronous belt 104, and the problems of difficulty in maintenance and difficulty in object taking during the fault are solved. In this embodiment, the synchronous transmission unit 10 is installed at the top edge of the exterior of the corresponding robot cabin 1003, and the driving motor 103 and the tensioning assembly 12 are located at the back of the robot, that is, are arranged opposite to the door body 1.

As shown in fig. 2, a first fixing frame 1002 is provided on the robot cabin 1003, in the present embodiment, the first fixing frame 1002 and the second fixing frame 1001 are provided in parallel at an interval, and the tension assembly 12 is mounted on the first fixing frame 1002. In the present embodiment, the first fixing frame 1002 is located at the rear end of both sides of the robot, and the second fixing frame 1001 is located at the front end of both sides of the robot.

Specifically, as shown in fig. 4 and 5, the tensioning assembly 12 includes a tensioning mounting seat 121, a tensioning adjusting seat 123, an adjusting block 124 and an adjusting piece 125, the tensioning mounting seat 121 is mounted on the first fixing frame 1002, a sliding groove 122 is formed in the tensioning mounting seat 121, the tensioning adjusting seat 123 is in sleeved engagement with the tensioning mounting seat 121, the driving motor 103 is mounted on the tensioning adjusting seat 123, the adjusting block 124 is slidably disposed in the sliding groove 122, the adjusting block 124 can move along the sliding groove 122, the adjusting block 124 is connected with the tensioning adjusting seat 123, and the adjusting piece 125 is used for driving the adjusting block 124 to move along the sliding groove 122. Adjust regulating part 125 and drive regulating block 124 and remove in spout 122, and then drive the tensioning and adjust seat 123 and remove along with regulating block 124, realized the regulation of first round 101 and second round 102 interval, the stability of operation when guaranteeing the assembly volume production, and adjust efficiently.

The tensioning mounting seat 121 includes an L-shaped connecting plate 1211 and a tensioning seat 1212 screwed with the connecting plate 1211, the connecting plate 1211 is connected with the first fixing frame 1002, and a sliding slot 122 is formed on one side of the tensioning seat 1212.

Further, as shown in fig. 6, at least one countersunk hole 12121 is formed in the bottom of the sliding slot 122 on the tensioning seat 1212, and one end of the countersunk bolt penetrates through the countersunk hole 12121 and is screwed to the connecting plate 1211, so that the head of the countersunk bolt is placed in the countersunk hole 12121, and the head of the countersunk bolt is flush with the bottom of the sliding slot 122, and does not affect the sliding of the adjusting block 124.

Further, the width of the two ends of the sliding slot 122 is greater than the width of the middle of the sliding slot 122, so that the sliding slot 122 is an I-shaped slot. Groove avoiding sections are processed at two ends of the sliding groove 122, so that the adjusting block 124 can be fully attached to the side walls of the two ends of the sliding groove 122.

In this embodiment, the adjusting element 125 includes an adjusting screw, one end of the adjusting screw penetrates through two opposite side walls of the sliding slot 122, the adjusting screw and the two side walls of the sliding slot 122 are adjustably penetrated, and the adjusting block 124 is screwed on the adjusting screw. Specifically, two sides of the adjusting block 124 contact with the side walls of the chute 122, which are opposite to each other, and the adjusting block 124 can also move along the chute 122 to screw the adjusting screw, so that the adjusting block 124 makes a linear motion along the chute 122 by being in threaded connection with the adjusting screw. In this embodiment, adjusting screw's pitch sets up to 1, and adjusting screw rotates the round promptly, and the tensioning distance just changes 1mm, convenient operation, simple structure, and the reliability is high. The tensioning assembly 12 can be applied to a narrow space, is convenient to assemble and saves labor.

In this embodiment, as shown in fig. 5 to 8, the tensioning adjusting base 123 includes a U-shaped driving base 1231 and a motor tensioning adjusting base 1232 connected to the driving base 1231, the tensioning base 1212 is disposed in the U-shaped groove of the driving base 1231, the driving base 1231 is integrally fixed to the adjusting block 124 and can move relative to the tensioning base 1212, and the driving motor 103 is mounted on the motor tensioning adjusting base 1232.

In another embodiment, the tensioning assembly 12 may also be a slide rail structure, the slide block is slidably mounted on the slide rail, the driving motor 103 is mounted on the slide block, the slide rail is further fixedly connected with a projection, one end of a bolt is fixedly connected with the slide block by penetrating through the projection, the bolt is in threaded connection with the projection, and the position of the slide block on the slide rail can be adjusted by screwing the bolt. In addition, a strip hole can be formed in the sliding block, a guide post is arranged on the sliding rail, and the guide post penetrates through the strip hole to limit the displacement of the sliding block. This configuration also allows for tensioning adjustment of the synchronous drive unit 10, but requires a relatively large amount of space and requires a high number of assembly and machining operations.

In this embodiment, the door opening and closing mechanism further includes a detection module for detecting a rotation angle of the door body 1. Preferably, the detection module 7 includes a first sensor 71 and a second sensor 72, a limiting member 73 is disposed on the driving rod 3, and the limiting member 73 is configured to contact with the first sensor 71 or the second sensor 72 when the door body 1 moves to the limit position. In the present embodiment, the positions of the first sensor 71 and the second sensor 72 determine the rotation angle of the driving lever 3, that is, the opening angle of the door body 1 can be adjusted by adjusting the positions of the first sensor 71 and the second sensor 72. The rotation angle of the driving rod 3 is set to 120 degrees in this embodiment, and the rotation angle of the driving rod 3 can be set according to practical application scenes, so that the door body 1 can be opened at a proper angle to take goods from the robot cabin 1003 conveniently.

Further, the limiting member 73 is fixedly installed on the first shaft 8, and when the synchronous transmission unit 10 drives the first shaft 8 to rotate, the limiting member 73 rotates along with the first shaft 8, and further, the first sensor 71 or the second sensor 72 is contacted, so that the rotation angle of the door body 1 is accurately controlled.

It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims (10)

1. A service robot, comprising:

a robot cabin (1003);

the door opening and closing mechanism is rotatably arranged on the robot cabin body (1003) through at least two linkage units at different positions, and the at least two linkage units respectively actuate around at least two rotating shafts which are staggered with each other;

the synchronous transmission unit (10) is in driving connection with the door opening and closing mechanism to open and close the robot cabin body (1003) along a curve track, the output end of the synchronous transmission unit (10) is connected with one of the linkage units, and the input end of the synchronous transmission unit (10) is provided with a tensioning assembly (12) to adjust the distance between the input end and the output end.

2. The service robot as claimed in claim 1, wherein the door opening and closing mechanism comprises a first linkage unit, a second linkage unit and a door body (1), the first linkage unit is rotatably mounted on the robot cabin body (1003) through a first shaft (8), the second linkage unit is rotatably mounted on the robot cabin body (1003) through a second shaft (9), and the first shaft (8) and the second shaft (9) are staggered with each other; the door body (1) comprises a first connecting part and a second connecting part, the first connecting part is pivoted with the outer extending end of the first linkage unit, and the second connecting part is pivoted with the outer extending end of the second linkage unit; furthermore, the first connecting part can move along a circumferential track around the first shaft (8), the second connecting part can move along a circumferential track around the second shaft (9), and the door body (1) can move along a curved track; any one of the first linkage unit and the second linkage unit is connected with the synchronous transmission unit (10).

3. The service robot as claimed in claim 2, wherein the first linkage unit and the second linkage unit both extend outward relative to the robot cabin (1003), and the first linkage unit is in point-surface connection with the door body (1); the second linkage unit extends along the height direction of the robot cabin body (1003) to form a connecting extension surface, and the second linkage unit is connected with the surface of the door body (1).

4. The service robot as claimed in claim 3, wherein the first linkage unit comprises a driving rod (3), one end of the driving rod (3) is pivotally connected to the robot cabin (1003) through the first shaft (8), the other end of the driving rod (3) is pivotally connected to the door body (1), the first shaft (8) is connected to an output end of the synchronous transmission unit (10), and the synchronous transmission unit (10) drives the driving rod (3) to rotate around the first shaft (8).

5. Service robot according to any of claims 2-4, characterized in that the synchronization transmission unit (10) comprises:

a first wheel (101) mounted on the first shaft (8);

the output end of the driving motor (103) is connected with a second wheel (102), and the driving motor (103) is installed on the tensioning assembly (12);

the first wheel (101) and the second wheel (102) are in transmission connection through the synchronous belt (104).

6. The service robot as recited in claim 5, characterized in that said robot cabin (1003) is provided with a first fixed frame (1002), said tensioning assembly (12) comprising:

the tensioning mounting seat (121) is mounted on the first fixing frame (1002), and a sliding groove (122) is formed in the tensioning mounting seat (121);

the tensioning adjusting seat (123) is sleeved and clamped with the tensioning mounting seat (121), and the driving motor (103) is mounted on the tensioning adjusting seat (123);

the adjusting block (124) is arranged in the sliding groove (122) in a sliding mode, and the tensioning adjusting seat (123) moves along the sliding groove (122) along with the adjusting block (124);

the adjusting piece (125), the adjusting piece (125) is connected with the adjusting block (124) in a driving mode.

7. The service robot as recited in claim 6, wherein the tensioning mount (121) includes a tensioning seat (1212), the sliding slot (122) is opened on the tensioning seat (1212), the adjusting member (125) includes an adjusting screw, one end of the adjusting screw penetrates through two opposite side walls of the sliding slot (122), the adjusting screw is adjustably penetrated through a slot wall of the sliding slot (122), and the adjusting block (124) is screwed on the adjusting screw.

8. The service robot as recited in claim 7, wherein the tensioning mount (121) further comprises a connecting plate (1211), at least one countersunk hole (12121) is opened at a bottom of the sliding groove (122) of the tensioning mount (1212), and one end of a countersunk bolt is inserted through the countersunk hole (12121) and is screwed with the connecting plate (1211).

9. The service robot according to claim 7, wherein the width of the chute (122) at both ends is larger than the width of the chute (122) in the middle.

10. The service robot as recited in claim 7, wherein the tensioning seat (123) comprises a U-shaped driving seat (1231) and a motor tensioning seat (1232) connected to the driving seat (1231), the tensioning seat (1212) is disposed in the U-shaped groove of the driving seat (1231), the driving seat (1231) is integrally fixed to the adjusting block (124) and is movable relative to the tensioning seat (1212), and the driving motor (103) is mounted on the motor tensioning seat (1232).

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