CN219057146U - Door opening and closing device and dispensing equipment - Google Patents

Abstract

The utility model discloses a door opening and closing device and a distribution device, the door opening and closing device comprises: a drive assembly; a transmission assembly; a hinge assembly; the damping assembly comprises a first connecting part, a second connecting part and a damping piece; the first connecting portion is fixedly connected with the power output shaft, the second connecting portion is used for abutting the second end of the transmission assembly with the first connecting portion, and the damping piece is used for tightly attaching the first connecting portion to the second end of the transmission assembly together so as to buffer power transmission between the driving assembly and the transmission assembly under the condition that the box door is subjected to external force. Therefore, the damping component is arranged between the driving component and one end of the transmission component, when the box door is acted by external force, the damping component can buffer power transmission between the driving component and the transmission component, so that not only can the driving component be prevented from being overloaded, but also the box door can be prevented from being clamped by a hand, and the structural reliability of the box door opening and closing device can be improved.

Description

Door opening and closing device and dispensing equipment

Technical Field

The utility model relates to the technical field of robots, in particular to a box door opening and closing device and a distribution device.

Background

With the rise of online shopping, the logistics industry rapidly develops at present. In the middle transportation link of logistics, the distribution manpower is used for repeatedly and inefficiently transporting, and along with the increase of the quantity of the distribution manpower, the manpower cost is continuously increased, and the contradiction between the service demand and the manpower cost is continuously increased. Therefore, outdoor delivery machines such as remote delivery vehicles and unmanned delivery vehicles are gradually becoming available.

In the prior art, the box unit is used as a storage function, and is widely applied to containers or delivery robots, and some containers or delivery devices, the box of which is generally opened and closed manually through mechanical elastic elements, and can be operated only under the precondition of human operation.

Other containers or distribution equipment, except the pure mechanical box door structure, can also rely on the electric drive to open the box door structure, can realize the operation of remote switch box door, but also have the uncontrollable of switching dynamics to easily press from both sides the problem of hurting the people's hand, burning out the motor, the safety in utilization is not high.

Disclosure of Invention

The present utility model aims to solve at least one of the technical problems existing in the prior art. Therefore, the utility model provides a door opening and closing device, and the structure of the door opening and closing device is more stable and reliable.

The utility model further proposes a dispensing device.

The door opening and closing device comprises a driving assembly, a door opening and closing device and a door opening and closing device, wherein the driving assembly comprises a power output shaft; a transmission assembly; the hinge assembly is connected with a first end driving wheel of the transmission assembly and is used for connecting the box body and the box door; the damping assembly comprises a first connecting part, a second connecting part and a damping piece; the first connecting portion is fixedly connected with the power output shaft, the second connecting portion is used for enabling the second end of the transmission assembly to be abutted to the first connecting portion, and the damping piece is used for enabling the first connecting portion to be tightly attached to the second end of the transmission assembly so as to buffer power transmission between the driving assembly and the transmission assembly under the condition that the box door is subjected to external force.

Therefore, the damping component is arranged between the driving component and one end of the transmission component, when the box door is acted by external force, the damping component can buffer power transmission between the driving component and the transmission component, so that not only can the driving component be prevented from being overloaded, but also the box door can be prevented from being clamped by a hand, and the structural reliability of the box door opening and closing device can be improved.

According to some embodiments of the utility model, the damping member is a compactor; the compactor is arranged on one side of the second connecting part so as to compact the transmission assembly on the first connecting part.

According to some embodiments of the utility model, the first connection comprises a damping shaft; the first end of the damping shaft is fixedly connected with the power output shaft, the second end of the damping shaft is provided with a stop part, the second connecting part comprises the stop part, and the second end of the transmission assembly is sleeved on the damping shaft and is blocked by the stop part from being close to the first end of the damping shaft; the compactor is arranged on the damping shaft and is positioned at one side of the second end of the transmission assembly, which is far away from the power output shaft.

According to some embodiments of the utility model, the first connection further comprises: a first connection flange; the first connecting flange is fixedly connected with the power output shaft, and the first connecting flange is arranged at the first end of the damping shaft and is fixedly connected with the damping shaft; the second connecting part further comprises a second connecting flange, the second connecting flange is sleeved on the damping shaft and is blocked by the stopping part from being close to the first connecting flange, and the second connecting flange is fixedly connected with the second end of the transmission assembly.

According to some embodiments of the utility model, the second connection further comprises at least one friction plate; friction plates are arranged between the second end of the transmission assembly and the stop part and/or between the second end of the transmission assembly and the compactor.

According to some embodiments of the utility model, the impactor comprises: the damping device comprises a damping shaft, a transmission assembly and a fixing part and an elastic pressing piece, wherein the damping shaft is sleeved with the elastic pressing piece and elastically pressed at the second end of the transmission assembly, and the fixing part is arranged on the damping shaft and located on one side, far away from the transmission assembly, of the elastic pressing piece.

According to some embodiments of the utility model, the drive assembly comprises: the driving motor and the two third connecting flanges are respectively arranged at the two ends of the driving motor, the two third connecting flanges are respectively arranged on the power output shafts at the two ends, the damping assemblies and the transmission assemblies are respectively two groups and correspond to each other one by one, the second connecting part of each group of the damping assemblies is connected with the second ends of one group of the transmission assemblies through one third connecting flange, and the first ends of the two groups of the transmission assemblies are respectively connected with the hinge assemblies in a transmission way; and/or, the hinge assembly comprises: the hinge seat is rotatably connected to one end of the hinge swing arm, the other end of the hinge swing arm is fixedly connected with the box door, and the first end of the transmission assembly is rotatably connected to the hinge swing arm; and/or, the transmission assembly comprises: the second connecting portion is used for enabling one end of the crank to be abutted to the first connecting portion, the other end of the crank is connected to one end of the connecting rod, and the other end of the connecting rod is connected to the hinge assembly.

According to some embodiments of the utility model, the door opening and closing device further includes: the angle detection assembly is arranged on one side of the second connecting part and used for detecting the rotating position of the second end of the transmission assembly, so that the rotating position of the box door is obtained.

According to some embodiments of the utility model, the angle detection assembly comprises: the magnetic detection device comprises a magnetic piece, a first mounting seat, a magnetic detection piece and a second mounting seat, wherein one of the magnetic piece and the magnetic detection piece is arranged on the first mounting seat, the other one of the magnetic piece and the magnetic detection piece is arranged on the second mounting seat, the first mounting seat is fixedly connected with the second end of the transmission assembly, and the second mounting seat is used for being fixedly connected with the box body; the second mounting seat is rotationally connected with the damping component so that the magnetic piece is matched with the magnetic detection piece.

According to an embodiment of the present utility model, the dispensing apparatus is a dispensing box or a dispensing robot, including: the box body is provided with a taking and placing opening; the box door is arranged at the taking and placing opening; the door opening and closing device is characterized in that the driving assembly is arranged on one side of the box body, and the hinge assembly is arranged between the box body and the door.

Additional aspects and advantages of the utility model will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the utility model.

Drawings

The foregoing and/or additional aspects and advantages of the utility model will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:

FIG. 1 is a schematic illustration of a dispensing apparatus according to one embodiment of the present utility model;

fig. 2 is a schematic view showing a door opening and closing device according to an embodiment of the present utility model mounted to a dispensing apparatus;

fig. 3 is a schematic view of a door opening and closing device according to an embodiment of the present utility model mounted to a door;

fig. 4 is a schematic view of a door opening and closing device according to an embodiment of the present utility model;

FIG. 5 is a schematic view of a damping assembly according to an embodiment of the present utility model.

Reference numerals:

1000. a dispensing device;

100. door opening and closing device;

10. a drive assembly; 11. a driving motor; 111. a power output shaft; 12. a third connecting flange;

20. a transmission assembly; 21. a crank; 22. a connecting rod;

30. a hinge assembly; 31. a hinge base; 32. a hinge swing arm;

40. a damping assembly; 41. a first connection portion; 411. a damping shaft; 4112. a stop portion; 412. a first connection flange; 42. a second connecting portion; 421. a second connection flange; 43. a damping member; 431. a friction plate; 432. an elastic pressing member; 433. a fixing part;

50. an angle detection assembly; 51. a magnetic member; 52. a first mount; 53. a magnetic detection member; 54. a second mounting base;

200. a case; 300. a door; 400. and a limiting frame.

Detailed Description

Embodiments of the present utility model will be described in detail below, by way of example with reference to the accompanying drawings.

Hereinafter, a door opening and closing device 100 according to an embodiment of the present utility model will be described with reference to fig. 1 to 5, and the door opening and closing device 100 may be applied to a dispensing apparatus 1000 such as a dispensing box or a dispensing robot, and the dispensing apparatus 1000 may perform dispensing by itself according to a set destination.

Referring to fig. 1 to 5, a door opening and closing device 100 according to an embodiment of the present utility model may mainly include: the device comprises a driving assembly 10, a transmission assembly 20, a hinge assembly 30 and a damping assembly 40, wherein the driving assembly 10 comprises a power output shaft 111, the transmission assembly 20 is in transmission connection with the power output shaft 111, the hinge assembly 30 is in transmission connection with a first end transmission wheel of the transmission assembly 20, and the hinge assembly 30 is used for connecting a box body 200 and a box door 300. Through with drive assembly 20 and power take off shaft 111 transmission connection to with hinge assembly 30 and the first end transmission connection of drive assembly 20, the power of drive assembly 10 can be through power take off shaft 111 output to drive assembly 20, and transmit to hinge assembly 30 through the first end of drive assembly 20, because hinge assembly 30 is used for connecting chamber door 300 and box 200, chamber door 300 can be opened and shut relatively box 200 under the effect of hinge assembly 30, thereby under the prerequisite that box 200 opening and shutting device can realize the basic function of chamber door 300 relative box 200 opening and shutting, make the structure of chamber door opening and shutting device 100 more simple controllable, need not the manual opening of user, can promote user's user experience.

Further, the driving assembly 10 is added to the hinge assembly 30, so that the driving assembly 10 is more convenient and faster, the transmission assembly 20 between the driving assembly 10 and the hinge assembly 30 not only can simplify the structure of the door opening and closing device 100, but also can make the door opening and closing device 100 have high precision and lower cost.

During the opening or closing of the cabinet door 300, the driving assembly 10 rotates in the forward or reverse direction, and when the external force blocks the opening or closing of the cabinet door 300, even if the driving assembly 10 continues to provide the driving force, the cabinet door 300 is not rigidly driven by buffering the power transmission between the driving assembly 10 and the driving assembly 20 by the damping assembly 40, and the opening or closing of the cabinet door 300 is slowed down, or even is not continuously opened or closed, thereby preventing the driving member from being overloaded, and additionally, preventing the cabinet door 300 from being pinched. When the external force is blocked, the damping assembly 40 stops playing a buffering role, and the door 300 is restored to a normal operating state.

Referring to fig. 5, the damping assembly 40 may mainly include a first connecting portion 41, a second connecting portion 42, and a damping member 43, where the first connecting portion 41 is fixedly connected with the power output shaft 111, the second connecting portion 42 is used to abut the second end of the transmission assembly 20 against the first connecting portion 41, and the damping member 43 is used to tightly attach the first connecting portion 41 to the second end of the transmission assembly 20, so as to buffer power transmission between the driving assembly 10 and the transmission assembly 20 when the door 300 is subjected to an external force. Specifically, the first connecting portion 41 is fixedly connected with the power output shaft 111, the second connecting portion 42 is used for abutting the second end of the transmission assembly 20 against the first connecting portion 41, the damping member 43 is used for tightly attaching the first connecting portion 41 to the second end of the transmission assembly 20, when the driving assembly 10 drives the door 300 to be normally opened or closed, the driving assembly 10 firstly transmits power to the first connecting portion 41 of the damping member 43 through the power output shaft 111, and since the damping member 43 tightly attaches the first connecting portion 41 to the second end of the transmission assembly 20, the power is transmitted to the first end of the transmission assembly 20, when the door 300 is normally closed, the first end of the transmission assembly 20 rotates together with the first connecting portion 41, and the first end of the transmission assembly 20 is transmitted to the hinge assembly 30 through the first end of the transmission assembly 20, so that the hinge assembly 30 drives the door 300 to be normally opened or closed.

Correspondingly, when the door 300 receives an external force, the first end of the transmission assembly 20 rotates relatively to the first connecting portion 41 of the damping member 43, i.e. the power output shaft 11, and the damping assembly 40 can buffer the power transmission between the driving assembly 10 and the transmission assembly 20, so that not only the overload of the driving assembly 10 can be prevented, but also the accidents such as clamping of the door 300 can be prevented.

As shown in fig. 5, the damping member 43 is a presser disposed on one side of the second connecting portion 42 to press the transmission assembly 20 against the first connecting portion 41. Specifically, the door 300 is not stressed or stressed by a force smaller than a friction force generated by the compaction of the compactor, the first connecting portion 41 and the second connecting portion 42 move synchronously, the door 300 is driven to open or close by the driving assembly 10, the damping assembly 40 does not block normal power transmission between the driving assembly 10 and the transmission assembly 20, and the force transmission between the driving assembly 10 and the transmission assembly 20 is more stable and efficient.

Correspondingly, the driving assembly 10 will normally drive the box door 300 to open or close, when the box door 300 is opened or closed and the external force is larger than the friction force generated by the compaction of the compactor, the first connecting portion 41 and the second connecting portion 42 will not rotate synchronously, the damping assembly 40 can block the power transmission between the driving assembly 10 and the transmission assembly 20, thus the overload of the driving assembly 10 can be prevented, and the overheat damage of the driving assembly 10 is caused.

As shown in fig. 5, the first connecting portion 41 may include a damping shaft 411, a first end of the damping shaft 411 is fixedly connected with the power output shaft 111, a second end of the damping shaft 411 is provided with a stop portion 4112, the second connecting portion 42 includes the stop portion 4112, a second end of the transmission assembly 20 is sleeved on the damping shaft 411 and is blocked by the stop portion 4112 from being close to the first end of the damping shaft 411, and the compactor is disposed on the damping shaft 411 and is located on a side of the second end of the transmission assembly 20 away from the power output shaft 111. Specifically, the first end of the damping shaft 411 is fixedly connected with the power output shaft 111, and the second end of the damping shaft 411 is provided with the stop portion 4112, and the second end of the transmission assembly 20 is sleeved on the damping shaft 411, and the stop portion 4112 can stop the second end of the transmission assembly 20 from approaching the first end of the damping shaft 411, so that the transmission assembly 20 and the power output shaft 111 can be prevented from being in direct contact, and the buffering effect of the damping assembly 40 is disabled, so that the structural reliability of the damping assembly 40 can be improved.

Further, the second ends of the power output shaft 111 and the transmission assembly 20 can be arranged on the damping shaft 411, and the second end of the transmission assembly 20 is far away from one side of the power output shaft 111, so that the impact of the mutual interference of the compactor and the power output shaft 111 can be prevented on the premise that the compaction of the second end of the transmission assembly 20 by the compactor is ensured to be stable and reliable, and the structural design of the damping assembly 40 is more reasonable.

As shown in fig. 5, the first connection part 41 may further mainly include: a first connection flange 412; the first connecting flange 412 is fixedly connected with the power output shaft 111, the first connecting flange 412 is disposed at a first end of the damping shaft 411 and is fixedly connected with the damping shaft 411, the second connecting portion 42 further includes a second connecting flange 421, the second connecting flange 421 is sleeved on the damping shaft 411 and is blocked by the stop portion 4112 from approaching the first connecting flange 412, and the second connecting flange 421 is fixedly connected with a second end of the transmission assembly 20. Specifically, the first connection flange 412 is fixedly connected to the power output shaft 111, and the first connection flange 412 is provided at the first end of the damping shaft 411, and the first connection flange 412 is fixedly connected to the damping shaft 411, and the driving assembly 10 may transmit power to the first connection flange 412 by transmitting power to the power output shaft 111, and transmit power to the damping shaft 411 through the first connection flange 412. Connection to the power take-off shaft 111, the second end of the transmission assembly 20 may be facilitated by a first connection flange 412. In other embodiments, a flange may be omitted, for example, the power take-off shaft 111 may be welded to the damper shaft 411, and for example, the second end of the transmission assembly 20 (e.g., its crank 21) may be sleeved over the damper shaft 411 and restrained from axial position on the damper shaft 411 by the stop 4112.

Further, the second connecting flange 421 is sleeved on the damping shaft 411, and the stop portion 4112 can prevent the second connecting flange 421 from approaching the first connecting flange 412, so as to ensure the independence of the first connecting flange 412 and the second connecting flange 421, prevent the first connecting flange 412 and the second connecting flange 421 from affecting each other, and since the second connecting flange 421 is fixedly connected with the second end of the transmission assembly 20 and the second end of the transmission assembly 20 is tightly pressed by the pressing device with the first connecting portion 41, the damping shaft 411 can transmit power from the power output shaft 111 to the second end of the transmission assembly 20 and transmit power from the second end of the transmission assembly 20 to the first end of the transmission assembly 20 and to the hinge assembly 30, so that the hinge assembly 30 drives the door 300 to open and close.

As shown in fig. 5, the second connecting portion 42 further includes at least one friction plate 431, and the friction plate 431 is disposed between the second end of the transmission assembly 20 and the stop portion 4112 and/or between the second end of the transmission assembly 20 and the presser. Specifically, the second end of the transmission assembly 20 may be pressed against the stop portion 4112 by the pressing device, by providing the friction plate 431 between the second end of the transmission assembly 20 and the stop portion 4112, and/or providing the friction plate 431 between the second end of the transmission assembly 20 and the pressing device, the friction force between the damping shaft 411 and the second end of the transmission assembly 20 may be increased, in the case that the door 300 is not stressed, the friction force between the friction plate 431 and the second end of the transmission assembly 20 may enable the power of the driving assembly 10 to be transmitted to the transmission assembly 20 through the damping shaft 411, and in the case that the door 300 is stressed by an external force, the friction force between the friction plate 431 and the second end of the transmission assembly 20 may buffer the power transmission between the driving assembly 10 and the transmission assembly 20, so that overload of the driving motor 11 may be prevented, and safety hazards such as a pinch may be prevented from occurring in the door 300, so that the structural reliability of the damping assembly 40 may be further improved.

As shown in fig. 5, the stop portion 4112 may be a step structure formed on the damping shaft 411, and the stop portion 4112 is configured into a step structure, so that not only the effect of the stop portion 4112 on blocking the second connecting flange 421 from approaching the first connecting flange 412 can be ensured, but also the arrangement of the stop portion 4112 on the damping shaft 411 can be simplified and the structural design of the damping assembly 40 can be simplified. In other embodiments, the stop portion 4112 may be a protrusion structure additionally provided on the damper shaft 411.

As shown in connection with fig. 5, the impactor may mainly include: the fixed part 433 and the elastic pressing piece 432, the elastic pressing piece 432 is sleeved on the damping shaft 411 and elastically pressed on the second end of the transmission assembly 20, and the fixed part 433 is arranged on the damping shaft 411 and is positioned on one side of the elastic pressing piece 432 far away from the transmission assembly 20. Specifically, the elastic pressing member 432 is sleeved on the damping shaft 411, and the elastic pressing member 432 is elastically pressed on the second end of the transmission assembly 20, and the fixing portion 433 disposed on the damping shaft 411 can ensure the stability of the elastic pressing member 432 disposed on the damping shaft 411. Further, the fixing portion 433 is disposed at a side of the elastic pressing member 432 away from the transmission assembly 20, so that the fixing portion 433 can be conveniently operated, and the fixing portion 433 can be conveniently disposed on the damping shaft 411.

As shown in fig. 5, the damping shaft 411 may be provided with external threads, and the fixing portion 433 may be an adjusting nut, which is engaged with the external threads. Specifically, by arranging the external thread on the damping shaft 411, matching the adjusting nut with the external thread, and positioning the adjusting nut on the side of the elastic pressing member 432 away from the second end of the transmission assembly 20, the pressing force of the elastic pressing member 432 can be adjusted by adjusting the adjusting nut, so that the pressing force of the elastic pressing member 432 on the friction plate 431 can be adjusted, and the damping force of the damping assembly 40 can be adjusted, so that the friction force between the second end of the transmission assembly 20 and the damping assembly 40 can be indirectly adjusted, and the maximum external force applied to the box 200 when the transmission forces of the driving assembly 10 and the transmission assembly 20 are blocked can be adjusted according to the use environment of the distribution device 1000, and thus the distribution device 1000 can meet the use demands of more people.

The damping member 43 may be a friction damper, such as the above-mentioned compactor, and in other embodiments, the damping member 43 may be at least one of a spring damper, a hydraulic damper, and a viscous damper, so that the type of the damping assembly 40 may be selectively set according to different usage environments of the damping member 43, different usage requirements of the user on the dispensing apparatus 1000, and production costs of the dispensing apparatus 1000, so that suitability of the damping assembly 40 may be improved.

As shown in connection with fig. 3 and 5, the drive assembly 10 includes: the driving motor 11 and the two third connecting flanges 12 are respectively provided with a power output shaft 111 at two ends of the driving motor 11, the two third connecting flanges 12 are respectively arranged on the power output shafts 111 at two ends, the damping assemblies 40 and the transmission assemblies 20 are respectively two groups and correspond to each other one by one, the second connecting part 42 of each group of the damping assemblies 40 is connected with the second ends of one group of the transmission assemblies 20 through one third connecting flange 12, and the first ends of the two groups of the transmission assemblies 20 are respectively connected with the hinge assemblies 30 in a transmission way. Specifically, the power output shafts 111 are disposed at two ends of the driving motor 11, and the two third connecting flanges 12 are respectively disposed on the power output shafts 111 at two ends, the damping assemblies 40 and the transmission assemblies 20 are two groups and are in one-to-one correspondence, the second connecting portion 42 of each group of damping assemblies 40 is connected with the second end of one group of transmission assemblies 20 via one third connecting flange 12, the first ends of the two groups of transmission assemblies 20 are all in transmission connection with the hinge assemblies 30, and in the process of opening or closing the driving box of the driving assembly 10, the stress of the box door 300 is more stable and balanced, so that the box door 300 can be prevented from being askew in the process of opening or closing, and the structural reliability of the distribution equipment 1000 can be further improved.

Further, by connecting the damper assembly 40 to the third connecting flange 12, the connection between the drive assembly 10 and the damper assembly 40 can be made more stable.

As shown in connection with fig. 1-3, the hinge assembly 30 includes: the hinge base 31 and the hinge swing arm 32, the hinge base 31 is rotatably connected to one end of the hinge swing arm 32, the other end of the hinge swing arm 32 is used for being fixedly connected with the box door 300, and the other end of the transmission assembly 20 is rotatably connected to the hinge swing arm 32. Specifically, the power of the driving assembly 10 may be transmitted to the middle of the hinge swing arm 32 through the transmission assembly 20, and the other end of the hinge swing arm 32 is fixedly connected with the door 300 by rotatably connecting the hinge base 31 to one end of the hinge swing arm 32, so that when the power of the driving assembly 10 is transmitted to the hinge swing arm 32, the hinge swing arm 32 may rotate around one end connected with the hinge base 31, opposite to the hinge base 31, thereby enabling the other end of the hinge swing arm 32 to rotate opposite to the hinge base 31, and since the other end of the hinge swing arm 32 is fixedly connected with the door 300, the door 300 may be further driven to rotate opposite to the hinge base 31, and thus, the door 300 may be opened and closed relative to the door 200 under the action of the hinge assembly 30, and the structure of the hinge assembly 30 may be simpler and more reliable.

Further, the hinge base 31 is fixed on the case 200 by four screws, a rotation shaft is provided on the hinge base 31, the hinge swing arm 32 rotates around the rotation shaft, the hinge swing arm 32 is fixed on the case door 300 by eight screws, one end of the hinge swing arm 32 is connected with the hinge base 31, and the other end is connected with the transmission assembly 20.

As shown in connection with fig. 1-3, the transmission assembly 20 includes: the crank 21 and the link 22, the second connecting portion 42 is used for abutting one end of the crank 21 to the first connecting portion 41, the other end of the crank 21 is connected to one end of the link 22, and the other end of the link 22 is connected to the hinge assembly 30. Specifically, one end of the crank 21 is abutted to the first connecting portion 41 through the second connecting portion 42, so that the driving assembly 10 can drive the crank 21 to rotate, the other end of the crank 21 is connected to one end of the connecting rod 22, the other end of the connecting rod 22 is connected to the power output shaft 111, so that the crank 21 can drive the connecting rod 22, and the connecting rod 22 further drives the hinge assembly 30 to move, and under the premise that the driving assembly 20 can transmit the power of the driving assembly 10 to the hinge assembly 30, the structure of the driving assembly 20 is simpler and more reliable, the precision of the driving assembly 20 is improved, and the cost of the driving assembly 20 is reduced.

As shown in fig. 3, the door opening/closing device 100 may further mainly include: the angle detecting assembly 50 is disposed at one side of the second connecting portion 42, for detecting a rotational position of the second end of the driving assembly 20, thereby obtaining a rotational position of the door 300. Specifically, the angle detecting assembly 50 may be disposed on one side of the second connecting portion 42, so that when the driving assembly 10 rotates to drive the door 300 to open or close relative to the case 200, the angle detecting assembly 50 may detect the rotation position of the second end of the transmission assembly 20, thereby obtaining the rotation position of the door 300, so that the door opening and closing device 100 may be more intelligent and reliable, and the user experience may be further improved.

Further, the dispensing apparatus 1000 may determine whether the door 300 is stopped when being opened or closed by combining the rotation position of the second end of the transmission assembly 20 detected by the angle detection assembly 50 and the external force applied to the door 300, so that the door 300 is opened or closed more safely, and surrounding personnel are prevented from being injured when the door 300 is opened or closed, so that the reliability of the dispensing apparatus 1000 may be further improved.

As shown in connection with fig. 3, the angle detection assembly 50 includes: the magnetic member 51, the first mounting seat 52, the magnetic detection member 53 and the second mounting seat 54, wherein one of the magnetic member 51 and the magnetic detection member 53 is arranged on the first mounting seat 52, and the other one is arranged on the second mounting seat 54, the first mounting seat 52 is fixedly connected to the second end of the transmission assembly 20, the second mounting seat 54 is fixedly connected to the box 200, and the second mounting seat 54 is rotationally connected with the damping assembly 40, so that the magnetic member 51 and the magnetic detection member 53 are matched. Specifically, when the driving assembly 10 transmits the driving force to the transmission assembly 20, the first mounting seat 52 will rotate synchronously with the transmission assembly 20, and the magnetic detection member 53 on the second mounting seat 54 on the box 200 will detect the rotation angle of the magnetic member 51 on the first mounting seat 52 on the transmission assembly 20, so that the transmission angle of the driving assembly 10 can be indirectly detected, thus not only the structure of the angle detection assembly 50 is simple, but also the accuracy and stability of the angle detection assembly 50 on the driving assembly 10 can be improved.

It should be noted that, the angle detecting assembly 50 is a magnetic encoding module, the magnetic encoding module includes a magnet seat and a magnetic encoder, the magnet seat rotates along with the rotation of the driving assembly 10 when the opening and closing device of the door 300 is in normal operation, and the magnetic encoder can detect the rotation angle of the driving assembly 10 by detecting the rotation of the magnet seat.

As shown in fig. 1 and 2, according to an embodiment of the present utility model, the dispensing apparatus 1000 may be a dispensing box or a dispensing robot, and the dispensing apparatus 1000 may mainly include: the box body 200, the box door 300 and the box door opening and closing device 100, the box body 200 has a taking and placing opening, the box door 300 is arranged at the taking and placing opening, the box door opening and closing device 100 for conveying the box is arranged at one side of the box body 200, the driving assembly 10 is arranged between the box body 200 and the box door 300, and the hinge assembly 30 is arranged between the box body 200 and the box door 300. Specifically, the box door 300 is arranged at the taking and placing opening on the box body 200, the driving assembly 10 is arranged at one side of the box body 200, and the hinge assembly 30 is arranged between the box body 200 and the box door 300, so that the hinge assembly 30 can drive the box door 300 to rotate relative to the box body 200 only by controlling the driving assembly 10, the box door 300 can be selectively closed or opened, and a user can conveniently take or prevent articles through the taking and placing opening.

As shown in the figures, the dispensing apparatus may further mainly include: the limiting frame 400, the limiting frame 400 is arranged at one side of the box 200, and the limiting frame 400 is positioned at one end of the rotation path of the transmission assembly 20 to limit the rotation of the transmission assembly 20. Specifically, in the process that the driving assembly 10 drives the transmission assembly 20 to transmit and the transmission assembly 20 drives the box door 300 to open or close, the transmission assembly 20 and the limiting frame 400 are in limiting fit, so that the transmission assembly 20 can be prevented from rotating excessively, the transmission assembly 20 enters a transmission dead point,

further, under the condition that the magnetic encoding module fails to detect the rotation angle of the magnetic encoding plate magnet, when the driving assembly 10 rotates forward, the end, connected with the driving assembly 20 and the driving assembly 10, will rotate to be in contact with the limit point of the box body 200, at this time, the damping assembly 40 works, the box door 300 stops opening or closing, the angle is opened to the maximum state, the forward rotation of the output shaft of the driving assembly 10 will not affect the opening or closing of the box door 300 any more, and the limit frame 400 acts here to limit the forward rotation of the end, connected with the driving assembly 10, to prevent the driving assembly 20 from entering the dead point position. When the driving assembly 10 rotates reversely, the door 300 is in close contact with the case 200, at this time, the damping assembly 40 is operated, the door 300 stops opening or closing, the angle is opened to the minimum state, and the reverse rotation of the output shaft of the driving assembly 10 will not affect the opening or closing of the door 300. Both damping structures provide protection for motor overload

In the opening process of the box door 300, the output shaft of the driving assembly 10 receives an instruction to start to rotate forward, so as to drive the third connecting flange 12, the damping assembly 40, the magnet seat and the magnetic encoder to coaxially rotate, drive the transmission assembly 20 to transmit, and the box door 300 is driven by the connecting rod 22 to open relative to the box body 200; meanwhile, the magnetic encoder detects and outputs the current rotation angle of the magnet seat, when the magnetic encoder detects that the magnet seat rotates to a specified angle, a signal is output, the driving assembly 10 receives the signal and stops rotating, and a series of driving box doors 300 stop opening, and at the moment, the box doors 300 are in an opening state.

In the closing process of the box door 300, the output shaft of the speed reducing motor receives an instruction to start to reversely rotate, so as to drive the third connecting flange 12, the damping component 40, the magnet seat and the magnetic encoder to coaxially rotate, drive the connecting rod 22 mechanism to swing, and the box door 300 is driven by the connecting rod 22 to be closed relative to the box body 200; when the hall sensor on the door 300 detects the magnet signal of the door 300, a signal is output, the driving assembly 10 receives the signal, stops rotating, and a series of driving the door 300 to stop closing, and the door 300 is in a closing state.

In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present utility model.

In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples.

While embodiments of the present utility model have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the utility model, the scope of which is defined by the claims and their equivalents.

Claims (10)

1. A door opening and closing device (100), characterized by comprising:

a drive assembly (10) comprising a power take-off shaft (111);

a transmission assembly (20);

the hinge assembly (30), the hinge assembly (30) is connected with the first end of the transmission assembly (20) in a transmission way, and the hinge assembly (30) is used for connecting the box body (200) and the box door (300); and

a damper assembly (40) including a first connection portion (41), a second connection portion (42), and a damper (43); the first connecting part (41) is fixedly connected with the power output shaft (111), the second connecting part (42) is used for enabling the second end of the transmission assembly (20) to be abutted with the first connecting part (41), and the damping piece (43) is used for enabling the first connecting part (41) to be tightly attached to the second end of the transmission assembly (20) so as to buffer power transmission between the driving assembly (10) and the transmission assembly (20) under the condition that the box door (300) is subjected to external force.

2. The door opening and closing device (100) according to claim 1, wherein the damper (43) is a presser; the compactor is arranged on one side of the second connecting part (42) so as to compact the transmission assembly (20) on the first connecting part (41).

3. The door opening and closing device (100) according to claim 2, wherein the first connecting portion (41) includes a damper shaft (411); the first end of the damping shaft (411) is fixedly connected with the power output shaft (111), a stop part (4112) is arranged at the second end of the damping shaft (411), the second connecting part (42) comprises the stop part (4112), and the second end of the transmission assembly (20) is sleeved on the damping shaft (411) and is blocked by the stop part (4112) from being close to the first end of the damping shaft (411); the compactor is arranged on the damping shaft (411) and is positioned on one side of the second end of the transmission assembly (20) far away from the power output shaft (111).

4. The door opening/closing device (100) according to claim 3, wherein the first connecting portion (41) further includes: a first connection flange (412); the first connecting flange (412) is fixedly connected with the power output shaft (111), and the first connecting flange (412) is arranged at the first end of the damping shaft (411) and is fixedly connected with the damping shaft (411); the second connecting part (42) further comprises a second connecting flange (421), the second connecting flange (421) is sleeved on the damping shaft (411) and is blocked by the stop part (4112) from being close to the first connecting flange (412), and the second connecting flange (421) is fixedly connected with the second end of the transmission assembly (20).

5. The door opening/closing device (100) according to claim 4, wherein the second connecting portion (42) further comprises at least one friction plate (431);

a friction plate (431) is arranged between the second end of the transmission assembly (20) and the stop part (4112) and/or between the second end of the transmission assembly (20) and the compactor.

6. The door opening and closing device (100) according to claim 5, wherein the presser comprises: the damping device comprises a damping shaft (411) and a transmission assembly (20), wherein the damping shaft (411) is sleeved with the elastic pressing piece (432), the transmission assembly (20) is elastically pressed at the second end of the transmission assembly, and the damping shaft (411) is provided with the fixing portion (433) and is located at one side, far away from the transmission assembly (20), of the elastic pressing piece (432).

7. The door opening and closing device (100) according to claim 1, wherein,

the drive assembly (10) comprises: the driving motor (11) and two third connecting flanges (12), wherein the two ends of the driving motor (11) are respectively provided with a power output shaft (111), the two third connecting flanges (12) are respectively arranged on the power output shafts (111) at the two ends, the damping assemblies (40) and the transmission assemblies (20) are respectively two groups and correspond to each other one by one, the second connecting part (42) of each group of the damping assemblies (40) is connected with the second ends of one group of the transmission assemblies (20) through one third connecting flange (12), and the first ends of the two groups of the transmission assemblies (20) are respectively connected with the hinge assemblies (30) in a transmission way;

and/or the number of the groups of groups,

the hinge assembly (30) includes: the hinge base (31) is rotatably connected to one end of the hinge swing arm (32), the other end of the hinge swing arm (32) is fixedly connected with the box door (300), and the first end of the transmission assembly (20) is rotatably connected to the hinge swing arm (32);

and/or the number of the groups of groups,

the transmission assembly (20) comprises: the connecting device comprises a crank (21) and a connecting rod (22), wherein the second connecting part (42) is used for enabling one end of the crank (21) to be abutted to the first connecting part (41), the other end of the crank (21) is connected to one end of the connecting rod (22), and the other end of the connecting rod (22) is connected to the hinge assembly (30).

8. The door opening and closing device (100) according to any one of claims 1 to 7, further comprising: and the angle detection assembly (50) is arranged on one side of the second connecting part (42) and is used for detecting the rotation position of the second end of the transmission assembly (20) so as to obtain the rotation position of the box door (300).

9. The door opening and closing device (100) according to claim 8, wherein the angle detecting assembly (50) includes: the magnetic detection device comprises a magnetic piece (51), a first mounting seat (52), a magnetic detection piece (53) and a second mounting seat (54), wherein one of the magnetic piece (51) and the magnetic detection piece (53) is arranged on the first mounting seat (52) and the other one of the magnetic piece and the magnetic detection piece is arranged on the second mounting seat (54), the first mounting seat (52) is fixedly connected to the second end of the transmission assembly (20), and the second mounting seat (54) is fixedly connected to the box body (200); the second mounting seat (54) is rotatably connected with the damping assembly (40) so that the magnetic piece (51) is matched with the magnetic detection piece (53).

10. A dispensing apparatus (1000), wherein the dispensing apparatus (1000) is a dispensing box or a dispensing robot, comprising:

the box body (200) is provided with a taking and placing port;

the box door (300) is arranged at the taking and placing opening;

the door opening/closing device (100) according to any one of claims 1 to 9, wherein the driving unit (10) is disposed on one side of the case (200), and the hinge unit (30) is disposed between the case (200) and the door (300).

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