WO2023030076A1 - Storage apparatus - Google Patents

Storage apparatus Download PDF

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Publication number
WO2023030076A1
WO2023030076A1 PCT/CN2022/114009 CN2022114009W WO2023030076A1 WO 2023030076 A1 WO2023030076 A1 WO 2023030076A1 CN 2022114009 W CN2022114009 W CN 2022114009W WO 2023030076 A1 WO2023030076 A1 WO 2023030076A1
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WO
WIPO (PCT)
Prior art keywords
rod
rod body
storage device
door
moving
Prior art date
Application number
PCT/CN2022/114009
Other languages
French (fr)
Chinese (zh)
Inventor
柳云飞
Original Assignee
北京有竹居网络技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京有竹居网络技术有限公司 filed Critical 北京有竹居网络技术有限公司
Publication of WO2023030076A1 publication Critical patent/WO2023030076A1/en

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
    • A47B46/00—Cabinets, racks or shelf units, having one or more surfaces adapted to be brought into position for use by extending or pivoting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G35/00—Mechanical conveyors not otherwise provided for
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05C—BOLTS OR FASTENING DEVICES FOR WINGS, SPECIALLY FOR DOORS OR WINDOWS
    • E05C17/00—Devices for holding wings open; Devices for limiting opening of wings or for holding wings open by a movable member extending between frame and wing; Braking devices, stops or buffers, combined therewith
    • E05C17/02—Devices for holding wings open; Devices for limiting opening of wings or for holding wings open by a movable member extending between frame and wing; Braking devices, stops or buffers, combined therewith by mechanical means
    • E05C17/04—Devices for holding wings open; Devices for limiting opening of wings or for holding wings open by a movable member extending between frame and wing; Braking devices, stops or buffers, combined therewith by mechanical means with a movable bar or equivalent member extending between frame and wing
    • E05C17/32—Devices for holding wings open; Devices for limiting opening of wings or for holding wings open by a movable member extending between frame and wing; Braking devices, stops or buffers, combined therewith by mechanical means with a movable bar or equivalent member extending between frame and wing consisting of two or more pivoted rods
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05C—BOLTS OR FASTENING DEVICES FOR WINGS, SPECIALLY FOR DOORS OR WINDOWS
    • E05C19/00—Other devices specially designed for securing wings, e.g. with suction cups
    • E05C19/16—Devices holding the wing by magnetic or electromagnetic attraction
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05C—BOLTS OR FASTENING DEVICES FOR WINGS, SPECIALLY FOR DOORS OR WINDOWS
    • E05C9/00—Arrangements of simultaneously actuated bolts or other securing devices at well-separated positions on the same wing
    • E05C9/08—Arrangements of simultaneously actuated bolts or other securing devices at well-separated positions on the same wing with a rotary bar for actuating the fastening means
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05D—HINGES OR SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS
    • E05D11/00—Additional features or accessories of hinges
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05D—HINGES OR SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS
    • E05D15/00—Suspension arrangements for wings
    • E05D15/02—Suspension arrangements for wings for revolving wings
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05D—HINGES OR SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS
    • E05D7/00—Hinges or pivots of special construction
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/60—Power-operated mechanisms for wings using electrical actuators

Definitions

  • the present application relates to the field of robots, in particular to a storage device.
  • the delivery service robot includes a storage bin and a door for opening or closing the storage bin.
  • the door of the delivery service robot of the related art is usually directly connected with the drive motor, that is, the drive motor directly passes through the transmission device (such as a synchronous belt, gear, etc.) ) is fixed with the door.
  • the torque of the motor is often small, and the warehouse door does not have a self-locking function, so an additional locking device needs to be added to provide the door locking function.
  • This application aims to solve at least one of the technical problems existing in the prior art. For this reason, this application proposes a storage device.
  • the connecting rod assembly By using the connecting rod assembly to realize the self-locking state, the user cannot open the door by himself, and the door is closed by using the force of the elastic member, so there will be no hand pinching. .
  • the storage device includes: a box body, a storage space is provided in the box body, and a pick-and-place opening communicating with the storage space is provided on the box body; a warehouse door, the The warehouse door is rotatably arranged on the box body to open or close the access port; the linkage assembly includes a first rod body and a second rod body, and the first rod body is rotatably arranged on the On the box, the first end of the second rod is rotatably connected to the first rod, the second end of the second rod is rotatably connected to the door, and the first rod faces the first direction Rotate to drive the second rod body to rotate so that the door closes the access opening; the connection line between the fixed pivot end of the first rod body and the second end of the second rod body is the first connection line, When the door closes the access opening, in the first direction, the first end of the second rod is located downstream of the first connecting line or on the first connecting line; the driving member , the driving member is connected with the first rod to
  • the storage device of the embodiment of the present invention when the door closes the pick-and-place opening, the user cannot open the door by himself by using the connecting rod assembly to realize the self-locking state, and there is no need to install additional door locks, which saves costs.
  • the door is closed by using the force of the elastic member, so there is no hand pinching, and no additional foreign object detection device is required, which further saves costs.
  • FIG. 1 is a schematic diagram of a storage device according to an embodiment of the present application.
  • FIG. 2 and FIG. 3 are schematic diagrams of different angles of storage equipment according to embodiments of the present application.
  • FIG. 4 and FIG. 5 are schematic diagrams of different angles of a link assembly and a driving member of a storage device according to an embodiment of the present application.
  • the connecting rod assembly 3 the first rod body 30, the second rod body 31, the matching rod 32, the first connection line 33, the connecting rod 34,
  • the driving part 4 The driving part 4, the motor 40, the conversion part 41, the third rod body 410, the fourth rod body 411, the moving part 42, the fixed seat 43,
  • connection should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected, or integrally connected; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediary, and it can be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in this application in specific situations.
  • the storage device 100 As a delivery service robot.
  • the storage device 100 includes: a box body 1, a door 2, a connecting rod assembly 3, a driving member 4 and an elastic member 5, wherein the box body 1 is provided with a storage space, and the box body 1 is provided with There is an access opening connected to the storage space, that is to say, the storage space is provided with an access opening, and the user can store items in the storage space through the access opening or take items from the storage space through the access opening .
  • the storage device 100 is a mobile robot
  • the bottom of the box body 1 is provided with moving wheels.
  • the bin door 2 is rotatably arranged on the box body 1 to open or close the pick-and-place opening.
  • the connecting rod assembly 3 includes a first rod body 30 and a second rod body 31, the first rod body 30 is rotatably arranged on the box body 1, the first end of the second rod body 31 is connected to the first rod body 30 in rotation, and the second rod body 31 The second end is rotatably connected with the door 2 , and the first rod body 30 rotates toward the first direction to drive the second rod body 31 to rotate so that the door 2 closes the access opening.
  • connection line between the fixed pivot end of the first rod body 30 and the second end of the second rod body 31 is the first connection line 33.
  • first connection line 33 When the door 2 closes the access opening, in the first direction, the first end of the second rod body 31 Located downstream of the first connecting line 33 or on the first connecting line 33 .
  • the pivoting end of the first rod 30 connected to the box body 1 is the fixed pivoting end, and the first end of the second rod 31 and the second end of the second rod 31 are both pivots of the second rod 31. Turn around.
  • the driving member 4 is connected with the first rod body 30 to drive the first rod body 30 to rotate toward the second direction, and the first direction and the second direction are opposite. Both ends of the elastic member 5 are respectively connected with the second rod body 31 and the box body 1 to pull the second rod body 31 to drive the door 2 to close the access opening.
  • the elastic member 5 may be a spring or a metal shrapnel.
  • the direction indicated by arrow A is the first direction (ie, the counterclockwise direction), and the second direction is the clockwise direction.
  • the driver 4 drives the first rod body 30 to rotate toward the second direction
  • the first rod body 30 rotates to drive the second rod body 31 to rotate
  • the second rod body 31 rotates to drive the bin door 2 to rotate to open the access opening.
  • the elastic member 5 applies force to the second rod body 31 to rotate toward the first direction, and the second rod body 31 drives the first rod body 30 to move toward the second direction. Rotate in one direction, so that the second rod body 31 can drive the bin door 2 to close the pick-and-place opening during the rotation process.
  • the driving member 4 stops exerting force on the first rod body 30 to rotate in the second direction, the driving member 4 and the first rod body 30 can maintain a contact connection state or be disconnected.
  • the line connecting the fixed pivot end of the first rod body 30 and the second end of the second rod body 31 can be understood as the connection between the pivot axis of the fixed end of the first rod body 30 and the pivot axis of the second end of the second rod body 31 Wire. It can also be understood as, on the same projection plane, the line between the orthographic projection point of the pivot axis of the fixed end of the first rod body 30 and the orthographic projection point of the pivot axis of the second end of the second rod body 31 .
  • the second end of the second rod body 31 is located on the first connecting line 33. It can be understood that, on the same projection plane, the pivot axis of the second end of the second rod body 31 is the same as the first connecting line. Line 33 intersects. Or it can also be understood that the first end of the second rod body 31 , the second end of the second rod body 31 , and the fixed pivot end of the first rod body 30 are collinearly arranged.
  • the first rod body 30 and the second rod body 31 are in a self-locking state.
  • the first rod body 30 cannot rotate towards the second direction.
  • the control driver 4 drives the first rod body 30 to rotate toward the second direction, and the first rod body 30 drives the second rod body 31 to rotate outwards to drive the door 2 to rotate outwards to open the pick-and-place opening.
  • the connecting rod assembly 3 is used to realize the self-locking state, so that the user cannot open the door 2 by himself, and there is no need to install additional door locks, which saves costs.
  • the door 2 is closed by utilizing the force of the elastic member 5 , so there is no hand pinching, and no additional foreign object detection device is required, which further saves costs.
  • each door 2 is connected to a corresponding link assembly 3 and an elastic member 5, that is to say, each door 2 is provided with a link assembly 3 And the elastic member 5, so that the self-closing lock of the door 2 and the anti-pinch function can be realized by using the connecting rod assembly 3 and the elastic member 5.
  • a plurality of bin doors 2 may share the driving member 4 , so as to realize linkage control of a plurality of bin doors 2 .
  • a plurality of doors 2 are correspondingly provided with a plurality of driving parts 4 , and each driving part 4 controls the opening of a corresponding door 2 to realize independent control of a plurality of doors 2 .
  • the connecting rod assembly 3 further includes a matching rod 32
  • the matching rod 32 is connected with the first rod body 30, and the driving member 4 cooperates with the matching rod 32 to push the matching rod 32 to rotate to drive the first rod body 30 to rotate .
  • the first rod body 30 can rotate around the fixed pivot end by pushing the fitting rod 32 to rotate, so as to facilitate the cooperation between the first rod body 30 and the driving member 4, and to arrange the positions of the driving member 4 and the connecting rod assembly 3 .
  • the portion of the first rod body 30 extending beyond the fixed pivot end defines a matching rod 32 .
  • the cooperation between the driving member 4 and the first rod body 30 is not limited to this, for example, the two ends of the first rod body 30 are respectively connected to the box body 1 and the second rod body 31 in rotation, and the driving member 4 can be connected to the first rod body 30 are connected to drive the first rod body 30 to rotate.
  • the driving part 4 includes a motor 40 , a conversion part 41 and a moving part 42 , the conversion part 41 is connected to the motor shaft of the motor 40 and the moving part 42 respectively, and the moving part 42 is connected to the matching rod 32
  • the converting member 41 is configured to convert the rotation of the motor shaft into the movement of the moving member 42 . That is to say, the motor shaft of the motor 40 rotates, and the purpose of driving the moving part 42 to move is achieved through the conversion of the conversion part 41 .
  • the moving part 42 contacts the matching rod 32 to push the matching rod 32 to rotate.
  • the motor 40 rotates forward to drive the moving part 42 to push the first rod body 30 to rotate around the second direction, so that the second rod body 31 drives the door 2 to rotate.
  • the motor 40 can be reversed to drive the moving part 42 to move in the opposite direction.
  • the matching rod 32 can be attached to the moving part 42.
  • the motor 40 can still operate normally to move the moving part 42 without being affected. Therefore, the structure of the driving member 4 is simple and reliable.
  • the driving member 4 is a slider-crank structure, and at this time, the slider in the slider-crank structure is the moving member 42. It should be noted that the working principle of the slider-crank structure has been established. technology, which will not be described in detail here.
  • the driving part 4 may be an electric push rod, and the push rod in the electric push rod is the moving part 42 .
  • the conversion part 41 may include a gear and a rack. The gear is connected to the motor shaft, and the rack and the gear are meshed. The rack is arranged on the moving part 42, and the moving part 42 is driven by the movement of the rack. move.
  • the structure of the driver 4 is not limited thereto.
  • the driver 4 can also be a cylinder, and the reciprocating movement of the piston of the cylinder can be used to push the rotation of the matching rod 32, as long as the driver 4 can push the first rod. 30 turns.
  • a guide rod 10 is also provided on the box body 1, and the moving part 42 cooperates with the guide rod 10, and the guide rod 10 is used to guide the moving part 42 direction of movement, so as to ensure that the moving member 42 can reliably drive the first rod body 30 to rotate.
  • a part of the moving part 42 is covered on the guide rod 10 and is movably matched with the guide rod 10 , so that the cooperation between the moving part 42 and the guide rod 10 is simplified.
  • the storage device 100 further includes a first position detection part and a second position detection part, and in the moving direction of the moving part 42, the first position detection part and the second position detection part are arranged at intervals,
  • the motor 40 stops.
  • the moving position of the moving part 42 is detected by the first position detecting part and the second position detecting part, and the moving stroke of the moving part 42 can be controlled, so that the motor 40 can be stopped at a suitable position to save energy.
  • first position detection part and the second position detection part can be contact switches arranged on the moving part 42, and the corresponding trigger part is arranged on the box body 1.
  • the contact switch and the trigger The parts come into contact so that the contact switch is triggered.
  • the first position detection part and the second position detection part can also be other structures, as long as the moving position of the moving part 42 can be detected, for example, the first position detection part and the second position detection part can be infrared
  • whether to move to the setting position can be determined by whether the moving part 42 blocks infrared rays.
  • a first magnetic attraction is provided on the matching rod 32
  • a second magnetic attraction 90 is provided on the driving member 4
  • the storage device 100 also includes a control The control part cooperates with the second magnetic attraction part 90 to control the second magnetic attraction part 90 to magnetically engage or disengage from the first magnetic attraction part. That is to say, the second magnetic element 90 can magnetically cooperate with the first magnetic element, so that the driving element 4 can drive the first rod body 30 to rotate.
  • the second magnetic attraction part 90 is disengaged from the first magnetic attraction part, there is no connection relationship between the driving part 4 and the first rod body 30, so the driving part 4 cannot drive the first rod body 30, and the elastic force of the elastic part 5 drives the first rod body 30.
  • the two rods 31 rotate to close the door 2 . Therefore, it is possible to control whether the second magnetic element 90 is disengaged from the first magnetic element according to whether the door 2 needs to be closed, thereby ensuring that the driver 4 does not interfere with the closing process of the door 2 .
  • control part and the second magnetic attraction part 90 are components of the push-pull electromagnet 9, that is to say, the push-pull electromagnet 9 can utilize the magnetic core and the electromagnetic coil of the electromagnet to form an action that can be pushed and pulled, thereby
  • the second magnetic attraction 90 can be moved relative to the first rod body 30, so that the second magnetic attraction 90 can move toward the first rod 30 so that the second magnetic attraction 90 and the first magnetic attraction are magnetically engaged.
  • the second magnetic attraction part 90 is controlled to move in a direction away from the first rod body 30 so that the second magnetic attraction part 90 is separated from the first magnetic attraction part.
  • the second magnetic attraction 90 may be an electromagnet
  • the control member makes the second magnetic attraction 90 magnetic or non-magnetic by controlling the power on and off of the second magnetic attraction 90, so that the second magnetic attraction 90
  • the second magnetic attractor 90 is magnetically engaged or disengaged from the first magnetic attractor.
  • the first magnetic attraction member can be fixed on the matching rod 32 in any manner, for example, by sticking, embedding and the like.
  • at least a portion of the engaging rod 32 is a piece of magnetic material to define a first magnetic attraction piece.
  • FIGS. Part 4 comprises motor 40, moving part 42, the 3rd rod body 410, the 4th rod body 411 and fixed base 43, and fixed base 43 is fixed on the bottom wall of casing 1, and motor 40 is located on the moving part 42, and the 3rd rod body 410 Connected with the motor shaft, the third rod body 410 and the fourth rod body 411 rotate and cooperate, the fourth rod body 411 and the fixed seat 43 rotate and cooperate, the motor 40 drives the third rod body 410 to rotate, and the third rod body 410 rotates to drive the fourth rod body 411 relative to the fixed seat 43 rotates, since the fixed seat 43 is fixed on the bottom wall of the box body 1, the fourth rod body 411 will push the moving part 42 to move during the rotation.
  • Four push-pull electromagnets 9 are arranged on the moving part 42 , and each push-pull electromagnet 9 is provided with a second magnetic attraction part 90 .
  • Each door 2 is correspondingly provided with a connecting rod assembly 3 and an elastic member 5, and the corresponding connecting rod assembly 3 and elastic member 5 of the two upper door 2 are arranged on the top wall of the box body 1, and the two warehouse doors below
  • the connecting rod assembly 3 and the elastic member 5 corresponding to the door 2 are arranged on the bottom wall of the box body 1 .
  • the first rod body 30 of the upper connecting rod assembly 3 is connected to the matching rod 32 through a vertically extending connecting rod 34, and a part of the first rod body 30 of the lower connecting rod assembly 3 extends beyond the fixed pivot end to define the matching rod 32 , the four matching rods 32 are provided with a first magnetic attraction piece.
  • the second magnetic attraction part 90 of the corresponding push-pull electromagnet 9 stretches out to cooperate with the first magnetic attraction part on the corresponding matching rod 32, and then the motor 40 drives the moving part 42 to move, move
  • the member 42 drives the mating rod 32 to rotate to drive the first rod body 30 to rotate, and the first rod body 30 drives the bin door 2 to rotate through the second rod body 31 to open the bin door 2 .
  • the second magnetic part 90 of the corresponding push-pull electromagnet 9 is retracted to disengage from the first magnetic part on the corresponding matching rod 32, and the elastic part 5 pulls the second rod body 31 to rotate To make the door 2 rotate to close the pick-and-place opening. Therefore, the four doors 2 can be controlled independently.
  • the number of doors 2 is not limited to the above four, and the number of doors 2 can be set according to actual conditions, such as two, three, etc.
  • the structure of the driving part 4 and the cooperation between the driving part 4 and the first rod body 30 are not limited to the above description, the driving part 4 can be formed into any structure, as long as the driving part 4 can drive the first rod body 30 to rotate towards the second direction. Can.
  • references to the terms “one embodiment,” “some embodiments,” “exemplary embodiments,” “example,” “specific examples,” or “some examples” are intended to mean that the implementation A specific feature, structure, material, or characteristic described by an embodiment or example is included in at least one embodiment or example of the present application.
  • schematic representations of the above terms do not necessarily refer to the same embodiment or example.
  • the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Power-Operated Mechanisms For Wings (AREA)

Abstract

Disclosed in the present application is a storage apparatus (100), comprising: a box body (1); a compartment door (2); a connection rod assembly (3), the connecting rod assembly (3) comprising a first rod body (30), which is rotatably arranged on the box body (1), and a second rod body (31), which has a first end rotatably connected to the first rod body (30), wherein a second end of the second rod body (31) is rotatably connected to the compartment door (2), the first rod body (30) rotates towards a first direction so as to drive the second rod body (31) to rotate, such that the compartment door closes a taking and placing opening, a connection line between a fixed pivot end of the first rod body (30) and the second end of the second rod body (31) is a first connection line (33), and when the compartment door closes the taking and placing opening, the first end of the second rod body (31) is located downstream of or on the first connection line; a driving member (4), wherein the driving member (4) is connected to the first rod (30), so as to drive the first rod (30) to rotate in a second direction; and an elastic member (5), wherein the elastic member (5) pulls the second rod body (31) to drive the compartment door to close the taking and placing opening.

Description

储物设备storage equipment
相关申请的交叉引用Cross References to Related Applications
本申请要求于2021年9月2日提交的，申请名称为“储物设备”的、中国专利申请号为“202111025196.6”的优先权，该中国专利申请的全部内容通过引用结合在本申请中。This application claims the priority of the Chinese Patent Application No. "202111025196.6" filed on September 2, 2021 with the title of "Storage Equipment", the entire contents of which are incorporated herein by reference.
技术领域technical field
本申请涉及机器人领域，尤其是涉及一种储物设备。The present application relates to the field of robots, in particular to a storage device.
背景技术Background technique
递送服务机器人包括储物仓和用于打开或关闭储物仓的仓门，相关技术的递送服务机器人的仓门通常直接与驱动电机相连，即驱动电机直接通过传动装置(如同步带、齿轮等)与仓门固定。The delivery service robot includes a storage bin and a door for opening or closing the storage bin. The door of the delivery service robot of the related art is usually directly connected with the drive motor, that is, the drive motor directly passes through the transmission device (such as a synchronous belt, gear, etc.) ) is fixed with the door.
这样带来的问题是，在关闭仓门时，有可能夹到用户的手，或者其他异物。需要额外增加传感器检测异物，或者增加电机电流检测判断是否夹到异物。The problem caused by this is that the user's hand or other foreign objects may be caught when the door is closed. It is necessary to add additional sensors to detect foreign objects, or to increase motor current detection to determine whether foreign objects are caught.
而且，电机力矩往往很小，仓门不带自锁功能，需要增加额外的锁定装置，来提供门锁功能。Moreover, the torque of the motor is often small, and the warehouse door does not have a self-locking function, so an additional locking device needs to be added to provide the door locking function.
发明内容Contents of the invention
本申请旨在至少解决现有技术中存在的技术问题之一。为此，本申请提出一种储物设备，通过利用连杆组件实现自锁状态，用户无法自行打开仓门，通过利用弹性件的作用力实现仓门的关闭，因此不会出现夹手的情况。This application aims to solve at least one of the technical problems existing in the prior art. For this reason, this application proposes a storage device. By using the connecting rod assembly to realize the self-locking state, the user cannot open the door by himself, and the door is closed by using the force of the elastic member, so there will be no hand pinching. .
根据本申请实施例的储物设备，包括：箱体，所述箱体内设有储物空间，所述箱体上设有与所述储物空间连通的取放口；仓门，所述仓门可转动地设在所述箱体上以打开或关闭所述取放口；连杆组件，所述连杆组件包括第一杆体和第二杆体，所述第一杆体可转动地设在所述箱体上，所述第二杆体的第一端与所述第一杆体转动相连，所述第二杆体的第二端与所述仓门转动相连，所述第一杆体朝向第一方向转动以带动所述第二杆体转动以使所述仓门关闭所述取放口；所述第一杆体的固定枢转端和所述第二杆体的第二端的连线为第一连线，所述仓门关闭所述取放口时，在所述第一方向上，所述第二杆体的第一端位于所述第一连线的下游或者位于所述第一连线上；驱动件，所述驱动件与所述第一杆体相连以驱动所述第一杆体朝向第二方向转动，所述第一方向和所述第二方向反向；弹性件，所述弹性件的两端分别 与所述第二杆体和箱体相连以拉动所述第二杆体带动所述仓门关闭所述取放口。The storage device according to the embodiment of the present application includes: a box body, a storage space is provided in the box body, and a pick-and-place opening communicating with the storage space is provided on the box body; a warehouse door, the The warehouse door is rotatably arranged on the box body to open or close the access port; the linkage assembly includes a first rod body and a second rod body, and the first rod body is rotatably arranged on the On the box, the first end of the second rod is rotatably connected to the first rod, the second end of the second rod is rotatably connected to the door, and the first rod faces the first direction Rotate to drive the second rod body to rotate so that the door closes the access opening; the connection line between the fixed pivot end of the first rod body and the second end of the second rod body is the first connection line, When the door closes the access opening, in the first direction, the first end of the second rod is located downstream of the first connecting line or on the first connecting line; the driving member , the driving member is connected with the first rod to drive the first rod to rotate toward the second direction, the first direction and the second direction are opposite; the elastic member, the two ends of the elastic member are respectively It is connected with the second rod body and the box body so as to pull the second rod body to drive the bin door to close the access opening.
根据本发明实施例的储物设备，在仓门关闭取放口时，通过利用连杆组件实现自锁状态，用户无法自行打开仓门，无需额外设置门锁，节约了成本。同时通过利用弹性件的作用力实现仓门的关闭，因此不会出现夹手的情况，也无需设置额外的异物检测装置，进一步节约了成本。According to the storage device of the embodiment of the present invention, when the door closes the pick-and-place opening, the user cannot open the door by himself by using the connecting rod assembly to realize the self-locking state, and there is no need to install additional door locks, which saves costs. At the same time, the door is closed by using the force of the elastic member, so there is no hand pinching, and no additional foreign object detection device is required, which further saves costs.
本申请的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本申请的实践了解到。Additional aspects and advantages of the application 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 application.
附图说明Description of drawings
本申请的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解，其中：The above and/or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, wherein:
图1为根据本申请实施例的储物设备的示意图；FIG. 1 is a schematic diagram of a storage device according to an embodiment of the present application;
图2和图3为根据本申请实施例的储物设备的不同角度的示意图；FIG. 2 and FIG. 3 are schematic diagrams of different angles of storage equipment according to embodiments of the present application;
图4和图5为根据本申请实施例的储物设备的连杆组件和驱动件的不同角度的示意图。FIG. 4 and FIG. 5 are schematic diagrams of different angles of a link assembly and a driving member of a storage device according to an embodiment of the present application.
附图标记：Reference signs:
储物设备100、 Storage equipment 100,
箱体1、 Box 1,
仓门2、Barn door 2,
连杆组件3、第一杆体30、第二杆体31、配合杆32、第一连线33、连接杆34、The connecting rod assembly 3, the first rod body 30, the second rod body 31, the matching rod 32, the first connection line 33, the connecting rod 34,
驱动件4、电机40、转换件41、第三杆体410、第四杆体411、移动件42、固定座43、The driving part 4, the motor 40, the conversion part 41, the third rod body 410, the fourth rod body 411, the moving part 42, the fixed seat 43,
弹性件5、 Elastic part 5,
推拉电磁铁9、第二磁吸件90、Push-pull electromagnet 9, second magnetic attraction part 90,
导引杆10。 Guide rod 10.
具体实施方式Detailed ways
下面详细描述本申请的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，仅用于解释本申请，而不能理解为对本申请的限制。Embodiments of the present application are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary, and are only for explaining the present application, and should not be construed as limiting the present application.
在本申请的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本 申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。此外，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本申请的描述中，除非另有说明，“多个”的含义是两个或两个以上。In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inner", "Outer", "Clockwise", "Counterclockwise", "Axial", The orientation or positional relationship indicated by "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the application and simplifying the description, rather than indicating or implying the referred device or element Must be in a particular orientation, constructed, and operate in a particular orientation, and thus should not be construed as limiting of the application. In addition, the features defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present application, unless otherwise specified, "plurality" means two or more.
在本申请的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本申请中的具体含义。In the description of this application, it should be noted that unless otherwise specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected, or integrally connected; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediary, and it can be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in this application in specific situations.
下面参考图1-图5描述根据本申请实施例的储物设备100，其中储物设备100可以为移动机器人等任何可以储存物体的设备，其中当储物设备100为移动机器人时，移动机器人可以作为递送服务机器人。The storage device 100 according to the embodiment of the present application is described below with reference to FIGS. As a delivery service robot.
根据本申请实施例的储物设备100，包括：箱体1、仓门2、连杆组件3、驱动件4和弹性件5，其中箱体1内设有储物空间，箱体1上设有与储物空间连通的取放口，也就是说，储物空间设有取放口，用户可以通过取放口往储物空间内存放物品或者通过取放口从储物空间内拿取物品。当储物设备100为移动机器人时，箱体1的底部设有移动轮。The storage device 100 according to the embodiment of the present application includes: a box body 1, a door 2, a connecting rod assembly 3, a driving member 4 and an elastic member 5, wherein the box body 1 is provided with a storage space, and the box body 1 is provided with There is an access opening connected to the storage space, that is to say, the storage space is provided with an access opening, and the user can store items in the storage space through the access opening or take items from the storage space through the access opening . When the storage device 100 is a mobile robot, the bottom of the box body 1 is provided with moving wheels.
仓门2可转动地设在箱体1上以打开或关闭取放口。连杆组件3包括第一杆体30和第二杆体31，第一杆体30可转动地设在箱体1上，第二杆体31的第一端与第一杆体30转动相连，第二杆体31的第二端与仓门2转动相连，第一杆体30朝向第一方向转动以带动第二杆体31转动以使仓门2关闭取放口。The bin door 2 is rotatably arranged on the box body 1 to open or close the pick-and-place opening. The connecting rod assembly 3 includes a first rod body 30 and a second rod body 31, the first rod body 30 is rotatably arranged on the box body 1, the first end of the second rod body 31 is connected to the first rod body 30 in rotation, and the second rod body 31 The second end is rotatably connected with the door 2 , and the first rod body 30 rotates toward the first direction to drive the second rod body 31 to rotate so that the door 2 closes the access opening.
第一杆体30的固定枢转端和第二杆体31的第二端的连线为第一连线33，仓门2关闭取放口时，在第一方向上，第二杆体31的第一端位于第一连线33的下游或者位于第一连线33上。可以理解的是，第一杆体30与箱体1相连的枢转端即为固定枢转端，第二杆体31的第一端和第二杆体31的第二端均为第二杆体31的枢转端。The connection line between the fixed pivot end of the first rod body 30 and the second end of the second rod body 31 is the first connection line 33. When the door 2 closes the access opening, in the first direction, the first end of the second rod body 31 Located downstream of the first connecting line 33 or on the first connecting line 33 . It can be understood that the pivoting end of the first rod 30 connected to the box body 1 is the fixed pivoting end, and the first end of the second rod 31 and the second end of the second rod 31 are both pivots of the second rod 31. Turn around.
驱动件4与第一杆体30相连以驱动第一杆体30朝向第二方向转动，第一方向和第二方向反向。弹性件5的两端分别与第二杆体31和箱体1相连以拉动第二杆体31带动仓门2关闭取放口。可选地，弹性件5可以为弹簧或者金属弹片。The driving member 4 is connected with the first rod body 30 to drive the first rod body 30 to rotate toward the second direction, and the first direction and the second direction are opposite. Both ends of the elastic member 5 are respectively connected with the second rod body 31 and the box body 1 to pull the second rod body 31 to drive the door 2 to close the access opening. Optionally, the elastic member 5 may be a spring or a metal shrapnel.
具体而言，如图1所示，在本申请的具体示例中，箭头A所示的方向即为第一方向(即逆时针方向)，第二方向为顺时针方向。当驱动件4驱动第一杆体30朝向第二方向转动时，第一杆体30转动带动第二杆体31转动，第二杆体31转动带动仓门2转动以打开取放口。Specifically, as shown in FIG. 1 , in a specific example of the present application, the direction indicated by arrow A is the first direction (ie, the counterclockwise direction), and the second direction is the clockwise direction. When the driver 4 drives the first rod body 30 to rotate toward the second direction, the first rod body 30 rotates to drive the second rod body 31 to rotate, and the second rod body 31 rotates to drive the bin door 2 to rotate to open the access opening.
当驱动件4停止对第一杆体30施加朝向第二方向转动的作用力时，弹性件5对第二杆体31施加朝向第一方向转动的作用力，第二杆体31带动第一杆体30朝向第一方向转动， 从而第二杆体31转动的过程中可以带动仓门2关闭取放口。When the driving member 4 stops applying force to the first rod body 30 to rotate toward the second direction, the elastic member 5 applies force to the second rod body 31 to rotate toward the first direction, and the second rod body 31 drives the first rod body 30 to move toward the second direction. Rotate in one direction, so that the second rod body 31 can drive the bin door 2 to close the pick-and-place opening during the rotation process.
可以理解的是，当驱动件4停止对第一杆体30施加朝向第二方向转动的作用力时，驱动件4和第一杆体30之间可以保持接触相连状态或者是断开配合。It can be understood that when the driving member 4 stops exerting force on the first rod body 30 to rotate in the second direction, the driving member 4 and the first rod body 30 can maintain a contact connection state or be disconnected.
其中第一杆体30的固定枢转端和第二杆体31的第二端的连线可以理解为第一杆体30的固定端的枢转轴线和第二杆体31的第二端的枢转轴线之间的连线。还可以理解为，在同一投影面上，第一杆体30的固定端的枢转轴线的正投影点和第二杆体31的第二端的枢转轴线的正投影点之间的连线。The line connecting the fixed pivot end of the first rod body 30 and the second end of the second rod body 31 can be understood as the connection between the pivot axis of the fixed end of the first rod body 30 and the pivot axis of the second end of the second rod body 31 Wire. It can also be understood as, on the same projection plane, the line between the orthographic projection point of the pivot axis of the fixed end of the first rod body 30 and the orthographic projection point of the pivot axis of the second end of the second rod body 31 .
当仓门2关闭取放口时，第二杆体31的第二端位于第一连线33上可以理解为，在同一投影面上，第二杆体31的第二端的枢转轴线与第一连线33相交。或者还可以理解为，第二杆体31的第一端、第二杆体31的第二端、第一杆体30的固定枢转端共线设置。When the door 2 closes the access opening, the second end of the second rod body 31 is located on the first connecting line 33. It can be understood that, on the same projection plane, the pivot axis of the second end of the second rod body 31 is the same as the first connecting line. Line 33 intersects. Or it can also be understood that the first end of the second rod body 31 , the second end of the second rod body 31 , and the fixed pivot end of the first rod body 30 are collinearly arranged.
具体而言，当第二杆体31的第二端位于第一连线33时，或者当在第一方向的转动方向上第二杆体31的第二端位于第一连线33的下游时(如图1中所示)，根据力学知识可知，第一杆体30和第二杆体31处于自锁状态，当对第二杆体31施加转动力时，第一杆体30无法朝向第二方向转动。Specifically, when the second end of the second rod body 31 is located at the first connection line 33, or when the second end of the second rod body 31 is located at the downstream of the first connection line 33 in the rotation direction of the first direction (such as As shown in FIG. 1 ), according to mechanics knowledge, the first rod body 30 and the second rod body 31 are in a self-locking state. When a rotational force is applied to the second rod body 31, the first rod body 30 cannot rotate towards the second direction.
当仓门2处于关闭取放口的位置时，由于连杆组件3处于自锁状态，当有人想强行打开仓门2时，由于自锁，第二杆体31无法朝外转动(即无法朝向第二方向转动)，因此仓门2无法打开，实现自锁的目的。在仓门2关闭的过程中，由于驱动件4停止对第一杆体30施加朝向第二方向转动的作用力，如果有人挡住了仓门2，则仓门2会停止转动而不会出现夹手的情况，当人手或者异物移开后，在弹性件5的弹性力作用下，仓门2会继续转动以关闭取放口，从而实现关闭和自锁的目的。When the door 2 was in the position of closing the pick-and-place opening, because the connecting rod assembly 3 was in a self-locking state, when someone wanted to open the door 2 by force, the second rod body 31 could not rotate outwards due to the self-locking (that is, it could not move toward the first two directions), so the door 2 cannot be opened to realize the purpose of self-locking. During the closing process of the door 2, since the driving member 4 stops applying the force to the first rod body 30 to rotate in the second direction, if someone blocks the door 2, the door 2 will stop rotating without pinching hands In the case of the case, when the hand or foreign matter is removed, under the elastic force of the elastic member 5, the door 2 will continue to rotate to close the access opening, thereby achieving the purpose of closing and self-locking.
当需要打开仓门2时，控制驱动件4驱动第一杆体30朝向第二方向转动，第一杆体30带动第二杆体31朝外转动以带动仓门2朝外转动以打开取放口。When the door 2 needs to be opened, the control driver 4 drives the first rod body 30 to rotate toward the second direction, and the first rod body 30 drives the second rod body 31 to rotate outwards to drive the door 2 to rotate outwards to open the pick-and-place opening.
根据本申请实施例的储物设备100，在仓门2关闭取放口时，通过利用连杆组件3实现自锁状态，用户无法自行打开仓门2，无需额外设置门锁，节约了成本。同时通过利用弹性件5的作用力实现仓门2的关闭，因此不会出现夹手的情况，也无需设置额外的异物检测装置，进一步节约了成本。According to the storage device 100 of the embodiment of the present application, when the door 2 closes the pick-and-place opening, the connecting rod assembly 3 is used to realize the self-locking state, so that the user cannot open the door 2 by himself, and there is no need to install additional door locks, which saves costs. At the same time, the door 2 is closed by utilizing the force of the elastic member 5 , so there is no hand pinching, and no additional foreign object detection device is required, which further saves costs.
在本申请的一些实施例中，仓门2为多个，每个仓门2与相应的连杆组件3和弹性件5相连，也就是说，每个仓门2均设有连杆组件3和弹性件5，从而可以利用连杆组件3和弹性件5实现仓门2的自关闭锁和防夹手功能。可以理解的是，可以是多个仓门2共用驱动件4，从而实现多个仓门2的联动控制。或者多个仓门2对应设置多个驱动件4，每个驱动件4控制相应的仓门2的打开，实现多个仓门2的独立控制。In some embodiments of the present application, there are multiple doors 2, and each door 2 is connected to a corresponding link assembly 3 and an elastic member 5, that is to say, each door 2 is provided with a link assembly 3 And the elastic member 5, so that the self-closing lock of the door 2 and the anti-pinch function can be realized by using the connecting rod assembly 3 and the elastic member 5. It can be understood that a plurality of bin doors 2 may share the driving member 4 , so as to realize linkage control of a plurality of bin doors 2 . Alternatively, a plurality of doors 2 are correspondingly provided with a plurality of driving parts 4 , and each driving part 4 controls the opening of a corresponding door 2 to realize independent control of a plurality of doors 2 .
在本申请的一些实施例中，连杆组件3还包括配合杆32，配合杆32与第一杆体30相 连，驱动件4与配合杆32配合以推动配合杆32转动以带动第一杆体30转动。也就是说，通过推动配合杆32转动使得第一杆体30可以绕着固定枢转端转动，从而便于第一杆体30和驱动件4配合，且便于排布驱动件4和连杆组件3的位置。在本申请的一些示例中，如图3-图5所示，第一杆体30的延伸超出固定枢转端的部分限定出配合杆32。当然可以理解的是，驱动件4和第一杆体30的配合方式不限于此，例如第一杆体30的两端分别与箱体1和第二杆体31转动相连，驱动件4可以与第一杆体30的中部位置相连以驱动第一杆体30转动。In some embodiments of the present application, the connecting rod assembly 3 further includes a matching rod 32, the matching rod 32 is connected with the first rod body 30, and the driving member 4 cooperates with the matching rod 32 to push the matching rod 32 to rotate to drive the first rod body 30 to rotate . That is to say, the first rod body 30 can rotate around the fixed pivot end by pushing the fitting rod 32 to rotate, so as to facilitate the cooperation between the first rod body 30 and the driving member 4, and to arrange the positions of the driving member 4 and the connecting rod assembly 3 . In some examples of the present application, as shown in FIGS. 3-5 , the portion of the first rod body 30 extending beyond the fixed pivot end defines a matching rod 32 . Of course, it can be understood that the cooperation between the driving member 4 and the first rod body 30 is not limited to this, for example, the two ends of the first rod body 30 are respectively connected to the box body 1 and the second rod body 31 in rotation, and the driving member 4 can be connected to the first rod body 30 are connected to drive the first rod body 30 to rotate.
进一步地，如图3-图5所示，驱动件4包括电机40、转换件41和移动件42，转换件41分别与电机40的电机轴和移动件42相连，移动件42与配合杆32配合，转换件41被构造成将电机轴的转动转换成移动件42的移动。也就是说，电机40的电机轴转动，通过转换件41的转换从而实现驱动移动件42移动的目的，移动件42移动的过程中与配合杆32接触以推动配合杆32转动。需要打开仓门2时，电机40正转从而带动移动件42推动第一杆体30绕第二方向转动，使得第二杆体31带动仓门2转动。当需要关闭仓门2时，可以使得电机40反转从而带动移动件42反向移动，此时由于弹性件5的作用力，可以使得配合杆32贴合移动件42，当有人或者异物挡住仓门2时，电机40仍然可以正常运转使移动件42移动而不受影响。从而使得驱动件4的结构简单可靠。Further, as shown in FIGS. 3-5 , the driving part 4 includes a motor 40 , a conversion part 41 and a moving part 42 , the conversion part 41 is connected to the motor shaft of the motor 40 and the moving part 42 respectively, and the moving part 42 is connected to the matching rod 32 Cooperating, the converting member 41 is configured to convert the rotation of the motor shaft into the movement of the moving member 42 . That is to say, the motor shaft of the motor 40 rotates, and the purpose of driving the moving part 42 to move is achieved through the conversion of the conversion part 41 . During the movement, the moving part 42 contacts the matching rod 32 to push the matching rod 32 to rotate. When the door 2 needs to be opened, the motor 40 rotates forward to drive the moving part 42 to push the first rod body 30 to rotate around the second direction, so that the second rod body 31 drives the door 2 to rotate. When the door 2 needs to be closed, the motor 40 can be reversed to drive the moving part 42 to move in the opposite direction. At this time, due to the force of the elastic part 5, the matching rod 32 can be attached to the moving part 42. When the door 2 is closed, the motor 40 can still operate normally to move the moving part 42 without being affected. Therefore, the structure of the driving member 4 is simple and reliable.
在本申请的一些示例中，驱动件4为曲柄滑块结构，此时曲柄滑块结构中的滑块即为移动件42，需要进行说明的是，曲柄滑块结构的工作原理已为现有技术，这里就不进行详细描述。在本申请的另一些示例中，驱动件4可以为电动推杆，电动推杆中的推杆即为移动件42。在本申请的又一些示例中，转换件41可以包括齿轮和齿条，齿轮与电机轴相连，齿条和齿轮啮合配合，齿条设在移动件42上，通过齿条的移动带动移动件42移动。当然可以理解的是，驱动件4的结构不限于此，例如驱动件4还可以为气缸，利用气缸的活塞的往复移动实现推动配合杆32转动的目的，只要保证驱动件4可以推动第一杆体30转动即可。In some examples of the present application, the driving member 4 is a slider-crank structure, and at this time, the slider in the slider-crank structure is the moving member 42. It should be noted that the working principle of the slider-crank structure has been established. technology, which will not be described in detail here. In some other examples of the present application, the driving part 4 may be an electric push rod, and the push rod in the electric push rod is the moving part 42 . In some other examples of the present application, the conversion part 41 may include a gear and a rack. The gear is connected to the motor shaft, and the rack and the gear are meshed. The rack is arranged on the moving part 42, and the moving part 42 is driven by the movement of the rack. move. Of course, it can be understood that the structure of the driver 4 is not limited thereto. For example, the driver 4 can also be a cylinder, and the reciprocating movement of the piston of the cylinder can be used to push the rotation of the matching rod 32, as long as the driver 4 can push the first rod. 30 turns.
在本申请的一些示例中，如图3-图5所示，箱体1上还设有导引杆10，移动件42与导引杆10配合，导引杆10用于导引移动件42的移动方向，从而保证移动件42可以可靠的驱动第一杆体30转动。In some examples of the present application, as shown in Fig. 3-Fig. 5, a guide rod 10 is also provided on the box body 1, and the moving part 42 cooperates with the guide rod 10, and the guide rod 10 is used to guide the moving part 42 direction of movement, so as to ensure that the moving member 42 can reliably drive the first rod body 30 to rotate.
进一步地，如图3-图5所示，移动件42的一部分外套在导引杆10上且与导引杆10移动配合，从而使得移动件42和导引杆10之间的配合关系简单。Further, as shown in FIGS. 3-5 , a part of the moving part 42 is covered on the guide rod 10 and is movably matched with the guide rod 10 , so that the cooperation between the moving part 42 and the guide rod 10 is simplified.
在本申请的一些实施例中，储物设备100还包括第一位置检测件和第二位置检测件，在移动件42的移动方向上，第一位置检测件和第二位置检测件间隔设置，第一位置检测件检测到移动件42移动到第一位置或第二位置检测件检测到移动件42移动到第二位置时，电机40停机。从而利用第一位置检测件和第二位置检测件检测移动件42的移动位置，可以控 制移动件42的移动行程，使得电机40可以在合适的位置停止，节约能源。In some embodiments of the present application, the storage device 100 further includes a first position detection part and a second position detection part, and in the moving direction of the moving part 42, the first position detection part and the second position detection part are arranged at intervals, When the first position detecting part detects that the moving part 42 moves to the first position or the second position detecting part detects that the moving part 42 moves to the second position, the motor 40 stops. Thereby, the moving position of the moving part 42 is detected by the first position detecting part and the second position detecting part, and the moving stroke of the moving part 42 can be controlled, so that the motor 40 can be stopped at a suitable position to save energy.
进一步地，第一位置检测件和第二位置检测件可以为设在移动件42上的触点开关，箱体1上设置有相应的触发件，当移动到相应位置时，触点开关与触发件接触以使得触点开关被触发。当然可以理解的是，第一位置检测件和第二位置检测件还可以为其他结构，只要可以检测移动件42的移动位置即可，例如第一位置检测件和第二位置检测件可以为红外对射开关，可以通过移动件42是否遮挡红外线以判定是否移动到设置位置。Further, the first position detection part and the second position detection part can be contact switches arranged on the moving part 42, and the corresponding trigger part is arranged on the box body 1. When moving to the corresponding position, the contact switch and the trigger The parts come into contact so that the contact switch is triggered. Of course, it can be understood that the first position detection part and the second position detection part can also be other structures, as long as the moving position of the moving part 42 can be detected, for example, the first position detection part and the second position detection part can be infrared For the through-beam switch, whether to move to the setting position can be determined by whether the moving part 42 blocks infrared rays.
如图3-图5所示，在本申请的一些实施例中，配合杆32上设有第一磁吸件，驱动件4上设有第二磁吸件90，储物设备100还包括控制件，控制件与第二磁吸件90配合以控制第二磁吸件90与第一磁吸件磁吸配合或脱离配合。也就是说，第二磁吸件90可与第一磁吸件磁吸配合，从而使得驱动件4可以驱动第一杆体30转动。当第二磁吸件90和第一磁吸件脱离配合时，驱动件4和第一杆体30之间无连接关系，则驱动件4无法驱动第一杆体30，弹性件5的弹性力驱动第二杆体31转动以关闭仓门2。从而可以根据是否需要关闭仓门2，控制第二磁吸件90是否与第一磁吸件脱离配合，保证了驱动件4不会干涉仓门2的关门过程。As shown in FIGS. 3-5 , in some embodiments of the present application, a first magnetic attraction is provided on the matching rod 32 , a second magnetic attraction 90 is provided on the driving member 4 , and the storage device 100 also includes a control The control part cooperates with the second magnetic attraction part 90 to control the second magnetic attraction part 90 to magnetically engage or disengage from the first magnetic attraction part. That is to say, the second magnetic element 90 can magnetically cooperate with the first magnetic element, so that the driving element 4 can drive the first rod body 30 to rotate. When the second magnetic attraction part 90 is disengaged from the first magnetic attraction part, there is no connection relationship between the driving part 4 and the first rod body 30, so the driving part 4 cannot drive the first rod body 30, and the elastic force of the elastic part 5 drives the first rod body 30. The two rods 31 rotate to close the door 2 . Therefore, it is possible to control whether the second magnetic element 90 is disengaged from the first magnetic element according to whether the door 2 needs to be closed, thereby ensuring that the driver 4 does not interfere with the closing process of the door 2 .
进一步地，控制件和第二磁吸件90为推拉电磁铁9的组成部分，也就是说，推拉电磁铁9可以利用电磁铁的磁心和电磁线圈，形成可以一个可以推、拉的动作，从而可以使得第二磁吸件90可以相对第一杆体30移动，从而可以使得第二磁吸件90朝向第一杆体30活动以使得第二磁吸件90和第一磁吸件磁吸配合，当需要断开配合时，控制第二磁吸件90朝向远离第一杆体30的方向活动使得第二磁吸件90和第一磁吸件脱离。Further, the control part and the second magnetic attraction part 90 are components of the push-pull electromagnet 9, that is to say, the push-pull electromagnet 9 can utilize the magnetic core and the electromagnetic coil of the electromagnet to form an action that can be pushed and pulled, thereby The second magnetic attraction 90 can be moved relative to the first rod body 30, so that the second magnetic attraction 90 can move toward the first rod 30 so that the second magnetic attraction 90 and the first magnetic attraction are magnetically engaged. When it needs to be disconnected, the second magnetic attraction part 90 is controlled to move in a direction away from the first rod body 30 so that the second magnetic attraction part 90 is separated from the first magnetic attraction part.
在本申请的另一些示例中，第二磁吸件90可以为电磁铁，控制件通过控制第二磁吸件90的通断电使得第二磁吸件90具有磁性或者无磁性，以使得第二磁吸件90与第一磁吸件磁吸配合或脱离配合。In some other examples of the present application, the second magnetic attraction 90 may be an electromagnet, and the control member makes the second magnetic attraction 90 magnetic or non-magnetic by controlling the power on and off of the second magnetic attraction 90, so that the second magnetic attraction 90 The second magnetic attractor 90 is magnetically engaged or disengaged from the first magnetic attractor.
可以理解的是，第一磁吸件可以采用任何方式固定在配合杆32上，例如采用粘贴、嵌设等方式。在本申请的一些示例中，配合杆32的至少一部分为磁性材料件以限定出第一磁吸件。It can be understood that the first magnetic attraction member can be fixed on the matching rod 32 in any manner, for example, by sticking, embedding and the like. In some examples of the present application, at least a portion of the engaging rod 32 is a piece of magnetic material to define a first magnetic attraction piece.
在本申请的一些具体示例中，如图2-图5所示，仓门2为四个，箱体1的上部设置两个仓门2，箱体1的下部设置两个仓门2，驱动件4包括电机40、移动件42、第三杆体410、第四杆体411和固定座43，固定座43固定在箱体1的底壁上，电机40设在移动件42上，第三杆体410与电机轴相连，第三杆体410与第四杆体411转动配合，第四杆体411和固定座43转动配合，电机40带动第三杆体410转动，第三杆体410转动带动第四杆体411相对固定座43转动，由于固定座43固定在箱体1的底壁上，因此第四杆体411在转动过程中会推动移动件42移动。移动件42上设有四个推拉电磁铁9，每个推拉电磁铁9设置有第二磁吸件90。In some specific examples of the present application, as shown in FIGS. Part 4 comprises motor 40, moving part 42, the 3rd rod body 410, the 4th rod body 411 and fixed base 43, and fixed base 43 is fixed on the bottom wall of casing 1, and motor 40 is located on the moving part 42, and the 3rd rod body 410 Connected with the motor shaft, the third rod body 410 and the fourth rod body 411 rotate and cooperate, the fourth rod body 411 and the fixed seat 43 rotate and cooperate, the motor 40 drives the third rod body 410 to rotate, and the third rod body 410 rotates to drive the fourth rod body 411 relative to the fixed seat 43 rotates, since the fixed seat 43 is fixed on the bottom wall of the box body 1, the fourth rod body 411 will push the moving part 42 to move during the rotation. Four push-pull electromagnets 9 are arranged on the moving part 42 , and each push-pull electromagnet 9 is provided with a second magnetic attraction part 90 .
每个仓门2对应设置一个连杆组件3和一个弹性件5，上方的两个仓门2对应的连杆组件3和弹性件5设在箱体1的顶壁上，下方的两个仓门2对应的连杆组件3和弹性件5设在箱体1的底壁上。Each door 2 is correspondingly provided with a connecting rod assembly 3 and an elastic member 5, and the corresponding connecting rod assembly 3 and elastic member 5 of the two upper door 2 are arranged on the top wall of the box body 1, and the two warehouse doors below The connecting rod assembly 3 and the elastic member 5 corresponding to the door 2 are arranged on the bottom wall of the box body 1 .
上方的连杆组件3的第一杆体30通过竖直延伸的连接杆34与配合杆32相连，下方的连杆组件3的第一杆体30的一部分延伸超出固定枢转端以限定出配合杆32，四个配合杆32上均设有第一磁吸件。The first rod body 30 of the upper connecting rod assembly 3 is connected to the matching rod 32 through a vertically extending connecting rod 34, and a part of the first rod body 30 of the lower connecting rod assembly 3 extends beyond the fixed pivot end to define the matching rod 32 , the four matching rods 32 are provided with a first magnetic attraction piece.
当需要控制仓门2打开时，相应的推拉电磁铁9的第二磁吸件90伸出以与相应的配合杆32上的第一磁吸件配合，然后电机40驱动移动件42移动，移动件42带动配合杆32转动以带动第一杆体30转动，第一杆体30通过第二杆体31带动仓门2转动以打开仓门2。When it is necessary to control the opening of the door 2, the second magnetic attraction part 90 of the corresponding push-pull electromagnet 9 stretches out to cooperate with the first magnetic attraction part on the corresponding matching rod 32, and then the motor 40 drives the moving part 42 to move, move The member 42 drives the mating rod 32 to rotate to drive the first rod body 30 to rotate, and the first rod body 30 drives the bin door 2 to rotate through the second rod body 31 to open the bin door 2 .
当打开的仓门2需要关闭时，相应的推拉电磁铁9的第二磁吸件90缩回以与相应的配合杆32上的第一磁吸件脱离，弹性件5拉动第二杆体31转动以使得仓门2转动以关闭取放口。从而可以对四个仓门2进行独立控制。When the opened door 2 needs to be closed, the second magnetic part 90 of the corresponding push-pull electromagnet 9 is retracted to disengage from the first magnetic part on the corresponding matching rod 32, and the elastic part 5 pulls the second rod body 31 to rotate To make the door 2 rotate to close the pick-and-place opening. Therefore, the four doors 2 can be controlled independently.
可以理解的是，仓门2的个数不限于上述的四个，可以根据实际情况设置仓门2的个数，例如为两个、三个等。驱动件4的结构、驱动件4和第一杆体30之间的配合方式也不限于上述描述，驱动件4可以形成为任何结构，只要驱动件4可以驱动第一杆体30朝向第二方向转动即可。It can be understood that the number of doors 2 is not limited to the above four, and the number of doors 2 can be set according to actual conditions, such as two, three, etc. The structure of the driving part 4 and the cooperation between the driving part 4 and the first rod body 30 are not limited to the above description, the driving part 4 can be formed into any structure, as long as the driving part 4 can drive the first rod body 30 to rotate towards the second direction. Can.
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示意性实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。In the description of this specification, references to the terms "one embodiment," "some embodiments," "exemplary embodiments," "example," "specific examples," or "some examples" are intended to mean that the implementation A specific feature, structure, material, or characteristic described by an embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
尽管已经示出和描述了本申请的实施例，本领域的普通技术人员可以理解：在不脱离本申请的原理和宗旨的情况下可以对这些实施例进行多种变化、修改、替换和变型，本申请的范围由权利要求及其等同物限定。Although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present application. The scope of the application is defined by the claims and their equivalents.

Claims (12)

  1. 一种储物设备，包括：A storage device, comprising:
    箱体，所述箱体内设有储物空间，所述箱体上设有与所述储物空间连通的取放口；A box body, the box body is provided with a storage space, and the box body is provided with a pick-and-place opening communicating with the storage space;
    仓门，所述仓门可转动地设在所述箱体上以打开或关闭所述取放口；a door, the door is rotatably arranged on the box to open or close the access port;
    连杆组件，所述连杆组件包括第一杆体和第二杆体，所述第一杆体可转动地设在所述箱体上，所述第二杆体的第一端与所述第一杆体转动相连，所述第二杆体的第二端与所述仓门转动相连，所述第一杆体朝向第一方向转动以带动所述第二杆体转动以使所述仓门关闭所述取放口；A connecting rod assembly, the connecting rod assembly includes a first rod body and a second rod body, the first rod body is rotatably arranged on the box body, and the first end of the second rod body rotates with the first rod body connected, the second end of the second rod body is connected to the door for rotation, and the first rod body rotates toward the first direction to drive the second rod body to rotate so that the door closes the access opening;
    所述第一杆体的固定枢转端和所述第二杆体的第二端的连线为第一连线，所述仓门关闭所述取放口时，在所述第一方向上，所述第二杆体的第一端位于所述第一连线的下游或者位于所述第一连线上；The line connecting the fixed pivot end of the first rod body and the second end of the second rod body is a first connection line, and when the door closes the access opening, in the first direction, the The first end of the second rod body is located downstream of the first connecting line or on the first connecting line;
    驱动件，所述驱动件与所述第一杆体相连以驱动所述第一杆体朝向第二方向转动，所述第一方向和所述第二方向反向；a driving member, the driving member is connected with the first rod body to drive the first rod body to rotate toward a second direction, and the first direction and the second direction are opposite;
    弹性件，所述弹性件的两端分别与所述第二杆体和箱体相连以拉动所述第二杆体带动所述仓门关闭所述取放口。An elastic member, the two ends of the elastic member are respectively connected with the second rod body and the box body so as to pull the second rod body to drive the warehouse door to close the access opening.
  2. 根据权利要求1所述的储物设备，其中，所述连杆组件还包括配合杆，配合杆与所述第一杆体相连，所述驱动件与所述配合杆配合以推动所述配合杆转动以带动所述第一杆体转动。The storage device according to claim 1, wherein the connecting rod assembly further comprises a matching rod connected to the first rod body, and the driving member cooperates with the matching rod to push the rotating rod to drive the first rod to rotate.
  3. 根据权利要求2所述的储物设备，其中，所述驱动件包括电机、转换件和移动件，所述转换件分别与所述电机的电机轴和所述移动件相连，所述移动件与所述配合杆配合，所述转换件被构造成将所述电机轴的转动转换成所述移动件的移动。The storage device according to claim 2, wherein the driving part comprises a motor, a converting part and a moving part, the converting part is respectively connected to the motor shaft of the motor and the moving part, and the moving part is connected to the moving part Cooperating with the mating rod, the conversion member is configured to convert rotation of the motor shaft into movement of the moving member.
  4. 根据权利要求3所述的储物设备，其中，所述驱动件为曲柄滑块结构；The storage device according to claim 3, wherein the driving member is a crank slider structure;
    或者，所述驱动件为电动推杆；Alternatively, the driving member is an electric push rod;
    又或者，所述转换件包括齿轮和齿条，所述齿轮与所述电机轴相连，所述齿条和所述齿轮啮合配合，所述齿条设在所述移动件上，通过所述齿条的移动带动所述移动件移动。Alternatively, the conversion member includes a gear and a rack, the gear is connected to the motor shaft, the rack is meshed with the gear, the rack is arranged on the moving member, and the rack is arranged on the moving member through the gear The movement of the bar drives the moving part to move.
  5. 根据权利要求3所述的储物设备，其中，The storage device of claim 3, wherein:
    所述箱体上还设有导引杆，所述移动件与所述导引杆配合，所述导引杆用于导引所述移动件的移动方向。The box body is also provided with a guide rod, the moving part cooperates with the guide rod, and the guide rod is used to guide the moving direction of the moving part.
  6. 根据权利要求3所述的储物设备，还包括第一位置检测件和第二位置检测件，在所述移动件的移动方向上，所述第一位置检测件和所述第二位置检测件间隔设置，所述第一位置检测件检测到所述移动件移动到第一位置或所述第二位置检测件检测到所述移动件移动到第二位置时，所述电机停机。The storage device according to claim 3, further comprising a first position detection part and a second position detection part, and in the moving direction of the moving part, the first position detection part and the second position detection part set at intervals, when the first position detecting part detects that the moving part moves to the first position or the second position detecting part detects that the moving part moves to the second position, the motor stops.
  7. 根据权利要求6所述的储物设备，其中，The storage device of claim 6, wherein:
    所述第一位置检测件和所述第二位置检测件为设在所述移动件上的触点开关，所述箱体上设置有相应的触发件，当移动到相应位置时，所述触点开关与所述触发件接触以使得所述触点开关被触发；The first position detection part and the second position detection part are contact switches arranged on the moving part, and corresponding trigger parts are arranged on the box body. a point switch is in contact with the trigger so that the contact switch is triggered;
    或者，第一位置检测件和第二位置检测件为红外对射开关。Alternatively, the first position detection part and the second position detection part are infrared through-beam switches.
  8. 根据权利要求2所述的储物设备，其中，所述配合杆上设有第一磁吸件，The storage device according to claim 2, wherein a first magnetic attraction is provided on the matching rod,
    所述驱动件上设有第二磁吸件，所述储物设备还包括控制件，所述控制件与所述第二磁吸件配合以控制所述第二磁吸件与所述第一磁吸件磁吸配合或脱离配合。A second magnetic attraction is provided on the driving element, and the storage device further includes a control element, and the control element cooperates with the second magnetic attraction to control the connection between the second magnetic attraction and the first magnetic attraction. Magnetic parts magnetically engage or disengage.
  9. 根据权利要求8所述的储物设备，其中，所述控制件和所述第二磁吸件为推拉电磁铁的组成部分。The storage device according to claim 8, wherein the control part and the second magnetic attraction part are components of a push-pull electromagnet.
  10. 根据权利要求1所述的储物设备，其中，所述仓门为多个，每个所述仓门与相应的所述连杆组件和所述弹性件相连。The storage device according to claim 1, wherein there are a plurality of doors, and each door is connected to the corresponding link assembly and the elastic member.
  11. 根据权利要求10所述的储物设备，其中，多个所述仓门共用所述驱动件。The storage device according to claim 10, wherein a plurality of said bin doors share said driving member.
  12. 根据权利要求1-11中任一项所述的储物设备，其中，所述箱体的底部设有移动轮，所述储物设备为移动机器人。The storage device according to any one of claims 1-11, wherein the bottom of the box is provided with moving wheels, and the storage device is a mobile robot.
PCT/CN2022/114009 2021-09-02 2022-08-22 Storage apparatus WO2023030076A1 (en)

Applications Claiming Priority (2)

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CN202111025196.6A CN115749484A (en) 2021-09-02 2021-09-02 Storage equipment

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Citations (6)

* Cited by examiner, † Cited by third party
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CN200976459Y (en) * 2006-07-31 2007-11-14 厦门华电开关有限公司 Valve mechanism of switch cabinet
CN102900344A (en) * 2012-10-23 2013-01-30 宁波永发集团有限公司 Hand-protected cabinet door
JP2013104268A (en) * 2011-11-16 2013-05-30 Takigen Mfg Co Ltd Door moving-out rotation type hinge for housing
CN103132835A (en) * 2011-11-23 2013-06-05 王建 Cabinet door support device
CN207879136U (en) * 2017-12-14 2018-09-18 何然然 A kind of multi-functional educational administration's file administration equipment
CN212984945U (en) * 2020-05-27 2021-04-16 长沙中能装备制造有限公司 Door stay mechanism and device of cover body

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN200976459Y (en) * 2006-07-31 2007-11-14 厦门华电开关有限公司 Valve mechanism of switch cabinet
JP2013104268A (en) * 2011-11-16 2013-05-30 Takigen Mfg Co Ltd Door moving-out rotation type hinge for housing
CN103132835A (en) * 2011-11-23 2013-06-05 王建 Cabinet door support device
CN102900344A (en) * 2012-10-23 2013-01-30 宁波永发集团有限公司 Hand-protected cabinet door
CN207879136U (en) * 2017-12-14 2018-09-18 何然然 A kind of multi-functional educational administration's file administration equipment
CN212984945U (en) * 2020-05-27 2021-04-16 长沙中能装备制造有限公司 Door stay mechanism and device of cover body

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