CN105857425B - Rectilinear orbit formula overturn-preventing meal delivery robot - Google Patents
Rectilinear orbit formula overturn-preventing meal delivery robot Download PDFInfo
- Publication number
- CN105857425B CN105857425B CN201610309478.1A CN201610309478A CN105857425B CN 105857425 B CN105857425 B CN 105857425B CN 201610309478 A CN201610309478 A CN 201610309478A CN 105857425 B CN105857425 B CN 105857425B
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- connection
- leg
- service plate
- robot
- support bracket
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Table Equipment (AREA)
- Manipulator (AREA)
Abstract
Rectilinear orbit formula overturn-preventing meal delivery robot and traveling method.Its composition of this product includes：Overhead cam follower installing plate, one end connection No.1 leg of the overhead cam follower installing plate, the other end of the overhead cam follower installing plate connects No. two legs, the No.1 leg is all connected with leg connecting flange with No. two legs, the leg connecting flange connection lower tray, the lower tray connection robot body, the lower service plate support bracket of the robot body connection, the lower service plate support bracket connection service plate support bracket mounting flange, the upper service plate support bracket of service plate support bracket mounting flange connection, the upper service plate support bracket connection No.1 mechanical arm installing plate.The present invention is used for dining room food delivery.
Description
Technical field：
The present invention relates to a kind of rectilinear orbit formula overturn-preventing meal delivery robot and traveling methods.
Background technology：
With the development of society, it is artificial higher and higher, food and beverage cost how is reduced, and can improve service quality,
It is problem to be solved.
It can be used in the meal delivery robot in dining room now with some, but it is of high cost, and the structure of meal delivery robot in itself is answered
It is miscellaneous, it is susceptible to failure after a period of use, repair is inconvenient.
Invention content：
The object of the present invention is to provide a kind of run trace is accurate, food delivery speed is fast, the accurate rectilinear orbit formula in position is prevented
Meal delivery robot of toppling and traveling method.
Above-mentioned purpose is realized by following technical scheme：
A kind of rectilinear orbit formula overturn-preventing meal delivery robot, composition include：Overhead cam follower installing plate, described is upper
One end connection No.1 leg of Cam Follower installing plate, the other end of the overhead cam follower installing plate connect No. two legs
Portion, the No.1 leg is all connected with leg connecting flange with No. two legs, under the leg connecting flange connection
Pallet, lower tray connection robot body, the lower service plate support bracket of robot body connection, the lower service plate support
Frame connects service plate support bracket mounting flange, the upper service plate support bracket of service plate support bracket mounting flange connection, the upper service plate support bracket
Connect No.1 mechanical arm installing plate.
The rectilinear orbit formula overturn-preventing meal delivery robot, No.1 leg connection No.1 wheel, described one
Number wheel connection No.1 axis simultaneously passes through key and fixes, and the No.1 leg connects No. two AC servo motors, the No.1 leg
Portion's connected legs step, the leg step connection track, the overhead cam follower installing plate connect No.1
Sleeve, described No. two sleeves of No.1 sleeve connection, track connection lower margin assembly parts, the lower section of the track has
Cam bawl, the cam bawl connection overhead cam follower installing plate.
The rectilinear orbit formula overturn-preventing meal delivery robot, No. two wheels of described No. two legs connections, described two
Number wheel connects No. two axis and passes through key and fixes, described No. two axis connection shaft gears, and described No. two legs connections are described
Leg step, the described leg step connection track, track connection camshaft bearing follower and
Lower cam follower installing plate.
The rectilinear orbit formula overturn-preventing meal delivery robot, the leg step connecting spring washer are described
Spring washer connection bolt, the shaft gear connection gear, gear connection right angle reductor, the gear nibbles
Close pinion gear.
The rectilinear orbit formula overturn-preventing meal delivery robot, described No. two legs connect right angle reductor mounting bracket,
The right angle reductor mounting bracket connection right angle reductor, right angle reductor connection No.1 AC servo motor.
The rectilinear orbit formula overturn-preventing meal delivery robot, lower tray connection upper cover, upper cover connection
Mounting bracket, the mounting bracket connect No. two AC servo motors, service plate support bracket mounting flange connection manipulator installation
Plate and No. two mechanical arm installing plates, described No. two AC servo motors connect motor gear, and motor gear connection subtracts
Fast machine, speed reducer connection shaft gear, shaft gear connection shaft, the shaft connection service plate
Bracket mounting flange and the upper service plate support bracket.
The rectilinear orbit formula overturn-preventing meal delivery robot, the No.1 axis and No. two axis are all connected with sealing ring
Bearing, the No.1 leg connection revolution support connection flange, the pivoting support connecting flange connection pivoting support,
Equipped with limiting backing pin between the robot and the leg connecting flange, the lower tray connects speed reducer, described
Lower tray connection eyenut M16.
A kind of traveling method of rectilinear orbit formula overturn-preventing meal delivery robot, this traveling method include five steps, first step machine
The initial position of device people faces the other end of track in one end of track；Second step is after cook has carried out food product from sending
Meal mouth is placed directly in the top tray installed on robot arm, and service plate can depress the switch among top tray, cook
Enabled instruction is inputted again；It is spare that the enabled instruction has been input to cook end when guest orders by formula order dishes system；The
Three step robots start mobile in orbit, the radially opposite sides in the in-orbit road of dining table arrangement under the control of enabled instruction；4th step
Stop, and rotate a certain angle to the left or to the right when the food product in top tray is sent in front of specified dining table by robot,
By the direction towards track one end, become the customer direction towards track both sides；And coordinate phonetic function and Customer Interaction, it prompts
Customer is from the food product being about in pallet from the dining table for getting oneself；After 5th step customer's pick-up, by service plate pressure in top tray
Under switch will reset, the instruction that can be returned automatically to robot, robot is from certain towards guest state counter-rotating
Angle sets back and puts, and is restored to original one end state towards guide rail, and at the uniform velocity returned at cook's work after accelerating
Guide rail one end waits for next food delivery flow.
Advantageous effect：
1. the present invention can the high region food delivery of having dinner in dining room of quick, steady, safe and reliable property, improve dining room give
The efficiency of meal, reduces food and beverage cost, realizes quick, steady, safely food delivery.
2. the present invention is fixed on the AC servo motor below walking mechanism, pass through right angle reductor meshing gear, No.1
The drive hub of wheel and No. two wheels apparent motion in orbit drives entire mechanism kinematic, and movement is accurate, speed is fast.
3. the present invention is fixed on the AC servo motor in lower tray, rotated by planet-gear speed reducer band moving gear,
Gear drives the turntable rotation for the pivoting support that is connected, and is connected on turntable and carries pallet and the responsible upper lower service plate support bracket eaten, energy
It is enough in arbitrary orientation to eating on dining table.
4. the method for shipment of the rectilinear orbit formula of the present invention, faster by upper 5 than common automated guided vehicle AGV line walkings speed
Times or more, the control algolithm of ripe AC servo motor can allow entire motion process very steady.
5. during a series of actions of meal delivery robot of the present invention, only upper meal, the center of gravity of lower service plate support bracket moves to bottom
Edge or outside generate smaller tilting moment.It topples in order to prevent, in walking mechanism (No.1 wheel and No. two wheel etc.)
Side is provided with the cam bawl of 4 overturn-preventings, tangent with the lower surface of track, can offset certain tilting moment.
6. the adjustable No.1 mechanical arm installing plate of the present invention and No. two mechanical arm installing plates, adjustment that can be appropriate is mechanical
The setting angle of arm, to adapt to different workplaces.
7. the present invention uses spliced Track desigh, mounting blocks and the lower margin assembly parts installing plate being fixed on foundation bolt
It is connected by bolt, facilitates the position of adjustment track；The hollow rectangular steel pipe of 1m long is inserted into mounting blocks, is in turn connected into
Track even longer 20m.
8. the driving mechanism being made of No.1 AC servo motor etc. of the present invention is fixed in walking mechanism, drawing is avoided
Wire type is driven due to robust motion caused by the deformation of line and accuracy problem.
9. mass motion component connection of the present invention fastens stress concentration for almost without welding, reducing the cold exchange of heat etc.
Problem provides preferable flatness and ensures for No.1 wheel and No. two wheels and food delivery part.
Description of the drawings：
Attached drawing 1 is the structure diagram of this product.
Attached drawing 2 is the vertical view of attached drawing 1.
Attached drawing 3 is the left view of attached drawing 1.
Attached drawing 4 is the D-D of attached drawing 2 to sectional view.
Specific embodiment：
Embodiment 1：
A kind of rectilinear orbit formula overturn-preventing meal delivery robot, composition include：Overhead cam follower installing plate 21, it is described
Overhead cam follower installing plate one end connection No.1 leg 13, the other end connection of the overhead cam follower installing plate
No. two legs 28, the No.1 leg are all connected with leg connecting flange 12, leg connection with No. two legs
Flanged joint lower tray 11, lower tray connection robot body 19, the lower service plate support bracket of robot body connection
6, lower service plate support bracket connection service plate support bracket mounting flange 3, the upper service plate support bracket of service plate support bracket mounting flange connection
5, upper service plate support bracket connection No.1 mechanical arm installing plate 4.
Embodiment 2：
Rectilinear orbit formula overturn-preventing meal delivery robot described in embodiment 1, No.1 leg connection is with driving wheel
The No.1 wheel of hub 44, the No.1 wheel 17 connection No.1 axis 15 simultaneously pass through the fixation of key 16 × 10 × 50, the No.1
Leg connects No. two AC servo motors 14, the No.1 leg connected legs step 34, the leg lower bearing
Seat connection track 31, the overhead cam follower installing plate connects No.1 sleeve 16, described No. two sleeves of No.1 sleeve connection
10, track connection lower margin assembly parts 7, the lower section of the track has cam bawl 45, and the cam bawl connects
Connect the overhead cam follower installing plate.
Embodiment 3：
Rectilinear orbit formula overturn-preventing meal delivery robot described in embodiment 2, described No. two legs connect drive hub
No. two wheels 29, described No. two wheels connect No. two axis 32 and pass through key and fix, described No. two axis connection shaft gears 33, institute
The leg step described in the connection of No. two legs stated, the leg step connection track, the rail
Road connection camshaft bearing follower 23 and lower cam follower installing plate 20.
Embodiment 4：
Rectilinear orbit formula overturn-preventing meal delivery robot described in embodiment 3, the leg step connecting spring pad
Circle 36, spring washer connection bolt 27, the shaft gear connection gear 37, gear connection right angle reductor
30, the gear pinion mate 38, pinion gear connection No. two axis.
Embodiment 5：
Rectilinear orbit formula overturn-preventing meal delivery robot described in embodiment 3, described No. two legs connect right angle reductor
Mounting bracket 35, right angle reductor mounting bracket connection right angle reductor, right angle reductor connection No.1 exchange are watched
Take motor 26.
Embodiment 6：
Rectilinear orbit formula overturn-preventing meal delivery robot described in embodiment 1, lower tray connection upper cover 8 are described
Upper cover connects mounting bracket 9, and the mounting bracket connects No. two AC servo motors, service plate support bracket mounting flange connection machine
Tool hand installing plate 1 and No. two mechanical arm installing plates 2, described No. two AC servo motors connect motor gear 40, the electricity
The speed reducer 41 (planet-gear speed reducer) of 30 fast ratio of machine gear connection, speed reducer connection shaft gear 42 are described
Shaft gear connects shaft 43, the shaft connection service plate support bracket mounting flange and the upper service plate support bracket.
Embodiment 7：
Rectilinear orbit formula overturn-preventing meal delivery robot described in embodiment 1, the No.1 axis and No. two axis are all connected with band
There are the bearing 25 of sealing ring, No.1 leg connection revolution support connection flange 27, the pivoting support connecting flange
Pivoting support 39 is connected, equipped with limiting backing pin 24, the subiculum between the robot and the leg connecting flange
Disk connects speed reducer, piece number 18, lower tray connection eyenut (M16) 22.
No. two mechanical arm installing plates, No.1 mechanical arm installing plate, lower tray, top tray, upper service plate support bracket, lower service plate support bracket
Material be 1023 carbon steel sheets；Pinion gear, gear, shaft gear material be 45# steel；Remaining parts is common carbon
Steel.
Embodiment 8：
A kind of traveling method of rectilinear orbit formula overturn-preventing meal delivery robot, this traveling method include five steps, first step machine
The initial position of device people faces the other end of track in one end of track；Second step is after cook has carried out food product from sending
Eat mouth (next to the initial position where robot, stretching out one's hand the pallet that can be got at and be installed on one arm of robot) directly
It is put into the top tray installed on robot arm, service plate can depress the switch among top tray, and cook inputs open again
Dynamic instruction；It is spare that the enabled instruction has been input to cook end when guest orders by formula order dishes system；Third walks machine
People starts mobile in orbit, the radially opposite sides in the in-orbit road of dining table arrangement under the control of enabled instruction；4th step works as robot
Stop (wanting pre-decelerating certainly) when food product in top tray is sent in front of specified dining table, and to the left or certain to right rotation
Angle (such as 90 degree), by the direction towards track one end, become the customer direction towards track both sides；And coordinate voice work(
Energy and Customer Interaction prompt customer from the food product being about in pallet from the dining table for getting oneself；Customer and machine can be increased
The interaction of people.It after 5th step customer's pick-up, will be resetted, can be returned to robot automatically by the switch that service plate is depressed in top tray
The instruction returned, robot put (such as 90 degree) and are restored to original from towards the certain angle of guest state counter-rotating, setting back
First one end state towards guide rail, and guide rail one end at cook's work is at the uniform velocity returned to after accelerating, wait for next food delivery
Flow.
Claims (4)
1. a kind of rectilinear orbit formula overturn-preventing meal delivery robot, composition includes：Overhead cam follower installing plate, it is characterized in that：
One end connection No.1 leg of the overhead cam follower installing plate, the other end of the overhead cam follower installing plate connect
No. two legs are connect, the No.1 leg is all connected with leg connecting flange, the leg connection method with No. two legs
Orchid connection lower tray, No. two AC servo motors being fixed in lower tray are rotated by planet-gear speed reducer band moving gear,
Gear drives the turntable rotation for the pivoting support that is connected, and is connected on turntable and carries pallet and be responsible for the upper lower service plate support bracket eaten,
Arbitrary orientation on dining table to eating, and coordinate phonetic function and Customer Interaction；The lower tray connection robot body, it is described
The lower service plate support bracket of robot body connection, lower service plate support bracket connection service plate support bracket mounting flange, the service plate support
The upper service plate support bracket of frame mounting flange connection, upper service plate support bracket connection No.1 mechanical arm installing plate；The No.1 leg
No.1 wheel is connected, the No.1 wheel connects No.1 axis and passes through key and fixes, and the No.1 leg connects No. two exchanges
Servo motor, the No.1 leg connected legs step, the leg step connection track, described is convex
Wheel follower installing plate connects No.1 sleeve, described No. two sleeves of No.1 sleeve connection, and the track connects lower margin assembly parts,
The lower section of the track has cam bawl, the cam bawl connection overhead cam follower installing plate；It is described
No. two legs connect No. two wheels, described No. two wheels connect No. two axis and pass through key and fix, described No. two axis connections
Shaft gear, described No. two leg connections leg step, the leg step connection track,
The track connection camshaft bearing follower and lower cam follower installing plate；The leg step connecting spring pad
Circle, spring washer connection bolt, the shaft gear connection gear, gear connection right angle reductor are described
Gear pinion mate；No. two legs connection right angle reductor mounting bracket, the right angle reductor mounting bracket connect
Connect right angle reductor, right angle reductor connection No.1 AC servo motor；The connection of mass motion component, fastening are not welded
The problem of connecing, reducing the stress concentration of the cold exchange of heat, ensures No.1 wheel and the flatness of No. two wheels and food delivery part.
2. rectilinear orbit formula overturn-preventing meal delivery robot according to claim 1, it is characterized in that：The lower tray connection
Upper cover, upper cover connection mounting bracket, the mounting bracket connect No. two AC servo motors, service plate support bracket installation
Flanged joint manipulator installing plate and No. two mechanical arm installing plates, described No. two AC servo motors connect motor gear, institute
The motor gear connection speed reducer stated, speed reducer connection shaft gear, shaft gear connection shaft are described
The shaft connection service plate support bracket mounting flange and the upper service plate support bracket.
3. rectilinear orbit formula overturn-preventing meal delivery robot according to claim 1, it is characterized in that：The No.1 axis and two
Number axis is all connected with the bearing with sealing ring, No.1 leg connection revolution support connection flange, the pivoting support
Connecting flange connects pivoting support, described equipped with limiting backing pin between the robot and the leg connecting flange
Lower tray connects speed reducer, lower tray connection eyenut M16.
4. rectilinear orbit formula overturn-preventing meal delivery robot according to claim 1, it is characterized in that：The rectilinear orbit formula
The traveling method of overturn-preventing meal delivery robot includes five steps, and the initial position of first step robot faces rail in one end of track
The other end in road；Second step is placed directly on the pop-up installed on robot arm after cook has carried out food product from food delivery mouth
On disk, service plate can depress the switch among top tray, and cook inputs enabled instruction again；The enabled instruction is in guest
It is spare that cook end is input to by formula order dishes system when ordering；Third walks robot under the control of enabled instruction, starts
It is moved on track, dining table arranges the radially opposite sides in in-orbit road；Food product in top tray is sent to specified meal by the 4th step when robot
Stop, and rotate a certain angle to the left or to the right when in front of table, by the direction towards track one end, become towards track two
The customer direction of side；And coordinate phonetic function and Customer Interaction, customer is prompted to get oneself certainly from the food product being about in pallet
On dining table；It after 5th step customer's pick-up, will be resetted, can be returned to robot automatically by the switch that service plate is depressed in top tray
Instruction, robot sets back and puts, be restored to original towards guide rail from towards the certain angle of guest state counter-rotating
One end state, and accelerate after at the uniform velocity return to guide rail one end at cook's work, wait for next food delivery flow.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610309478.1A CN105857425B (en) | 2016-05-07 | 2016-05-07 | Rectilinear orbit formula overturn-preventing meal delivery robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610309478.1A CN105857425B (en) | 2016-05-07 | 2016-05-07 | Rectilinear orbit formula overturn-preventing meal delivery robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105857425A CN105857425A (en) | 2016-08-17 |
| CN105857425B true CN105857425B (en) | 2018-06-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610309478.1A Expired - Fee Related CN105857425B (en) | 2016-05-07 | 2016-05-07 | Rectilinear orbit formula overturn-preventing meal delivery robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108994856A (en) * | 2018-08-28 | 2018-12-14 | 潍坊科技学院 | A kind of shock-absorbing type meal delivery robot of smooth running |
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| CN106910113A (en) * | 2017-02-17 | 2017-06-30 | 深圳大学 | A kind of full-automatic intelligent food delivery System and method for of ordering |
| CN108858126B (en) * | 2017-05-12 | 2023-11-21 | 北京瑞途科技有限公司 | Guiding device for intelligent inspection robot |
| CN107378957B (en) * | 2017-06-13 | 2020-08-11 | 安徽铂悦厨业有限公司 | Linear dish delivery robot for restaurant |
| CN107526359A (en) * | 2017-09-15 | 2017-12-29 | 中山市奥斯精工机械科技有限公司 | The automatic meal delivery device of intelligence and food delivery method |
| CN107856037A (en) * | 2017-10-11 | 2018-03-30 | 深圳市晓控通信科技有限公司 | A kind of multi-functional food delivery system with air-cleaning function and service life length |
| CN108482507A (en) * | 2018-03-31 | 2018-09-04 | 毛利英 | A kind of service robot device |
| CN110434863B (en) * | 2019-07-19 | 2020-11-13 | 武汉科技大学 | Prevent food delivery robot that emptys |
| CN110834339A (en) * | 2019-11-05 | 2020-02-25 | 宁波大学 | Dining room food delivery robot |
| CN112025728A (en) * | 2020-08-31 | 2020-12-04 | 广州富港万嘉智能科技有限公司 | Dining room robot |
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| CN105857425A (en) | 2016-08-17 |
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Granted publication date: 20180608 Termination date: 20190507 |