CN106826752B - A kind of meal delivery robot pedestal of structure optimization - Google Patents
A kind of meal delivery robot pedestal of structure optimization Download PDFInfo
- Publication number
- CN106826752B CN106826752B CN201710081238.5A CN201710081238A CN106826752B CN 106826752 B CN106826752 B CN 106826752B CN 201710081238 A CN201710081238 A CN 201710081238A CN 106826752 B CN106826752 B CN 106826752B
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- Prior art keywords
- bottom plate
- gear
- wheel
- roller
- delivery robot
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Classifications
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- 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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Accommodation For Nursing Or Treatment Tables (AREA)
Abstract
The invention discloses a kind of meal delivery robot pedestals of structure optimization, before its bottom plate, two sides have been separately formed several slots afterwards, before bottom plate, it is inserted with front jockey wheel component and rear drive sprocket component respectively in the slot of two sides afterwards, front jockey wheel component includes directive wheel, directive wheel is hinged on the both ends of guiding axis, guiding axis is fixed on the bottom plate on front side of bottom plate between slot by bearing block, directive wheel upper end two sides have born against upper roller, directive wheel lower end two sides have born against bottom roller, bottom roller and upper roller pass through connecting shaft and are hinged on gear ring, the periphery of gear ring is engaged with several positioning gears, positioning gear is respectively hinged on bottom plate and crossbeam by connecting shaft, there is driving gear on positioning gear described in one, drive gear affixed by the shaft of fulcrum and transposition motor, transposition motor is fixed on bottom plate.The present invention is adjustable meal delivery robot substructure height, reduces the shaking of jolting generated when meeting barrier, improves the stability of the food delivery of meal delivery robot.
Description
Technical field:
The present invention relates to the technical fields of meal delivery robot, more specifically to a kind of meal delivery robot of structure optimization
Pedestal.
Background technique:
With the continuous development of intelligent robot technology, field involved in robot is more and more extensive, in catering industry
In robot just have been favored by people.Such as cooking robot, frying apparatus people, dumpling robot to boil water, meal delivery robot, meet
Guest robot etc..And not only seem that dining room has characteristic as very popular meal delivery robot, but also relatively practical, still
The stationarity requirement that meal delivery robot moves it is very high, and the driving wheel of existing meal delivery robot is usually that structure is fixed,
And chassis is lower, will appear shaking of jolting when encountering barrier, the vegetable for being easy to send end, which spills, to be come.
Summary of the invention:
The purpose of the present invention is to the deficiencies of the prior art, and provide a kind of meal delivery robot bottom of structure optimization
Seat is adjustable the height of meal delivery robot pedestal, reduces the shaking of jolting generated when meeting barrier, improves meal delivery robot
The stability of food delivery.
To achieve the above object, The technical solution adopted by the invention is as follows:
A kind of meal delivery robot pedestal of structure optimization, the front and rear sides of the bottom plate including rectangle, bottom plate have been separately formed
Several slots are inserted with front jockey wheel component and rear drive sprocket component, front jockey wheel group in the slot of bottom plate front and rear sides respectively
Part includes directive wheel, and directive wheel is hinged on the both ends of guiding axis, and guiding axis is fixed on front side of bottom plate between slot by bearing block
Bottom plate on, directive wheel upper end two sides have born against upper roller, and directive wheel lower end two sides have born against bottom roller, bottom roller
Pass through connecting shaft with upper roller to be hinged on gear ring, the periphery of gear ring is engaged with several positioning gears, and positioning gear passes through connecting shaft
It is respectively hinged on bottom plate and crossbeam, interior on positioning gear described in one to have driving gear, driving gear is by fulcrum and changes
The shaft of position motor is affixed, and transposition motor is fixed on bottom plate；
The rear drive sprocket component includes driving wheel, and driving wheel is hinged on the both ends of drive shaft, drive shaft and driving electricity
The shaft of machine is affixed, and driving motor is fixed on bottom plate, and the two sides of the driving wheel upper end have born against upper roller, driving wheel
Lower end two sides have born against bottom roller, and bottom roller and upper roller pass through connecting shaft and be hinged on gear ring, the periphery engagement of gear ring
There are several positioning gears, positioning gear is respectively hinged on bottom plate and crossbeam by connecting shaft, interior on positioning gear described in one
There is driving gear, driving gear is affixed by the shaft of fulcrum and transposition motor, and transposition motor is fixed on bottom plate；
The lower end of the bottom roller of bottom roller and rear drive sprocket component on the rear drive sprocket component is all exposed under bottom plate
End face, the Corner Strapped of bottom plate have column, and the top of column is fixed on a mounting board, solid between the column of bottom plate front side or rear side
Surely there is stringer, the both ends of crossbeam are separately fixed on stringer.
The diameter of the upper roller is greater than the diameter of bottom roller, and the diameter of directive wheel is equal to the diameter of driving wheel, bottom roller
The distance for being greater than driving wheel center to bottom plate lower end surface with value of radius and driving wheel radius.
The width of slot is not less than the sum of gear ring and the thickness of directive wheel, directive wheel, driving wheel, upper roller on the bottom plate
It is equal with the thickness of bottom roller.
The radius of the upper roller and be less than slot length on bottom plate with value 1/2 of gear ring radius.
The thickness of the positioning gear is equal to the thickness of gear ring.
At least provided with three, positioning gear is uniformly distributed the positioning gear in a ring around the center of gear ring.
The beneficial effects of the present invention are: its height for being adjustable meal delivery robot pedestal is reduced and is generated when meeting barrier
Shaking of jolting, improve the stability of the food delivery of meal delivery robot.
Detailed description of the invention:
Fig. 1 is the schematic cross-sectional view of the positive apparent direction of the present invention；
Fig. 2 is that the present invention overlooks rectangular schematic cross-sectional view.
In figure: 1, bottom plate；11, slot；2, front jockey wheel component；21, directive wheel；22, guiding axis；3, rear drive sprocket group
Part；31, driving wheel；32, drive shaft；4, column；4, prism；5, mounting plate；6, stringer；7, crossbeam；A, upper roller；B, lower rolling
Wheel；C, gear ring；D, gear is positioned；E, gear is driven；E, transposition motor.
Specific embodiment:
Embodiment: as shown in FIGS. 1 and 2, a kind of meal delivery robot pedestal of structure optimization, the bottom plate 1 including rectangle, bottom plate 1
Front and rear sides be separately formed several slots 11, be inserted with front jockey wheel group respectively in the slot 11 of 1 front and rear sides of bottom plate
Part 2 and rear drive sprocket component 3, front jockey wheel component 2 include directive wheel 21, and directive wheel 21 is hinged on the both ends 22 of guiding axis 22,
Guiding axis 22 is fixed on the bottom plate 1 between 1 front side slot 11 of bottom plate by bearing block, and 21 upper end two sides of directive wheel are born against
There is upper roller a, 21 lower end two sides of directive wheel have born against bottom roller b, bottom roller b and upper roller a and have been hinged on by connecting shaft
On gear ring c, the periphery of gear ring c is engaged with several positioning gear d, positions gear d by connecting shaft and is respectively hinged at bottom plate 1 and crossbeam
On 7, interior on positioning gear d described in one to have driving gear e, driving gear e is solid by the shaft of fulcrum and transposition motor f
It connects, transposition motor f is fixed on bottom plate 1；
The rear drive sprocket component 3 includes driving wheel 31, and driving wheel 31 is hinged on the both ends of drive shaft 32, drive shaft 32
Affixed with the shaft of driving motor 8, driving motor 8 is fixed on bottom plate 1, and the two sides of 31 upper end of driving wheel have been born against
Upper roller a, 31 lower end two sides of driving wheel, which have born against bottom roller b, bottom roller b and upper roller a and pass through connecting shaft, is hinged on tooth
It encloses on c, the periphery of gear ring c is engaged with several positioning gear d, positions gear d by connecting shaft and is respectively hinged at bottom plate 1 and crossbeam 7
On, interior on positioning gear d described in one to have driving gear e, driving gear e is affixed by the shaft of fulcrum and transposition motor f,
Transposition motor f is fixed on bottom plate 1；
The lower end of the bottom roller b of bottom roller b and rear drive sprocket component 3 on the rear drive sprocket component 3 are all exposed bottom plate 1
Lower end surface, the Corner Strapped of bottom plate 1 has column 4, and the top of column 4 is fixed on mounting plate 5,1 front side or rear side of bottom plate
Stringer 6 is fixed between column 4, the both ends of crossbeam 7 are separately fixed on stringer 6.
The diameter of the upper roller a is greater than the diameter of bottom roller b, and the diameter of directive wheel 21 is equal to the diameter of driving wheel 31,
The distance for being greater than 31 center of driving wheel to 1 lower end surface of bottom plate with value of 31 radius of bottom roller b radius and driving wheel.
The width of slot 11 is not less than the sum of gear ring c and the thickness of directive wheel 21, directive wheel 21, driving on the bottom plate 1
The thickness of wheel 31, upper roller a and bottom roller b is equal.
The radius of the upper roller a and be less than 11 length of slot on bottom plate 1 with value 1/2 of gear ring c radius.
The thickness of the positioning gear d is equal to the thickness of gear ring c.
At least provided with three, positioning gear d is uniformly distributed the positioning gear d in a ring around the center of gear ring c.
Working principle: the present invention is the mobile base of meal delivery robot, and pedestal height is may be implemented in the technical point of pedestal
The transformation of degree, under normal circumstances, bottom roller b are located at the downside of directive wheel 21 or driving wheel 31, are rotated and are produced by driving wheel 31
Raw frictional force drives bottom roller b rotation to realize that pedestal is mobile, and the pedestal under state is relatively close from the ground, and movement is stablized, when
When encountering barrier, positioning gear b (that being connected with driving gear e) rotation is driven by driving motor f, realizes gear ring c
Rotation, gear ring c drive upper roller a to be moved to the downside of directive wheel 21 or driving wheel 31, then realize the lifting of pedestal, facilitate pedestal
It breaks the barriers, is shaken without jolting.
Claims (6)
1. a kind of meal delivery robot pedestal of structure optimization, the bottom plate (1) including rectangle, the front and rear sides of bottom plate (1) respectively at
Type has several slots (11), it is characterised in that: is inserted with front jockey wheel group respectively in the slot (11) of bottom plate (1) front and rear sides
Part (2) and rear drive sprocket component (3), front jockey wheel component (2) include directive wheel (21), and directive wheel (21) is hinged on guiding axis
(22) both ends, guiding axis (22) are fixed on the bottom plate (1) on front side of bottom plate (1) between slot (11) by bearing block, guiding
Wheel (21) upper end two sides have born against upper roller (a), and directive wheel (21) lower end two sides have born against bottom roller (b), lower rolling
Wheel (b) and upper roller (a) are hinged on gear ring (c) by connecting shaft, and the periphery of gear ring (c) is engaged with several positioning gears (d),
Positioning gear (d) is respectively hinged on bottom plate (1) and crossbeam (7) by connecting shaft, interior on positioning gear (d) described in one to have drive
Moving gear (e), driving gear (e) is affixed by the shaft of fulcrum and transposition motor (f), and transposition motor (f) is fixed on bottom plate (1)
On；
The rear drive sprocket component (3) includes driving wheel (31), and driving wheel (31) is hinged on the both ends of drive shaft (32), driving
The shaft of axis (32) and driving motor (8) is affixed, and driving motor (8) is fixed on bottom plate (1), driving wheel (31) upper end
Two sides have born against upper roller (a), and driving wheel (31) lower end two sides have born against bottom roller (b), bottom roller (b) and upper rolling
Wheel (a) is hinged on gear ring (c) by connecting shaft, and the periphery of gear ring (c) is engaged with several positioning gears (d), is positioned gear (d)
It is respectively hinged on bottom plate (1) and crossbeam (7) by connecting shaft, it is interior on positioning gear (d) described in one to have driving gear (e),
Drive gear (e) affixed by the shaft of fulcrum and transposition motor (f), transposition motor (f) is fixed on bottom plate (1)；
The lower end of the bottom roller (b) of bottom roller (b) and rear drive sprocket component (3) on the rear drive sprocket component (3) is all exposed
The lower end surface of bottom plate (1), the Corner Strapped of bottom plate (1) have column (4), and the top of column (4) is fixed on mounting plate (5), bottom
It is fixed with stringer (6) between the column (4) of plate (1) front side or rear side, the both ends of crossbeam (7) are separately fixed on stringer (6).
2. a kind of meal delivery robot pedestal of structure optimization according to claim 1, it is characterised in that: the upper roller
(a) diameter is greater than the diameter of bottom roller (b), and the diameter of directive wheel (21) is equal to the diameter of driving wheel (31), bottom roller (b) half
The distance for being greater than driving wheel (31) center to bottom plate (1) lower end surface with value of diameter and driving wheel (31) radius.
3. a kind of meal delivery robot pedestal of structure optimization according to claim 1, it is characterised in that: the bottom plate (1)
The width of upper slot (11) be not less than gear ring (c) and directive wheel (21) the sum of thickness, directive wheel (21), driving wheel (31), on
The thickness of idler wheel (a) and bottom roller (b) is equal.
4. a kind of meal delivery robot pedestal of structure optimization according to claim 1, it is characterised in that: the upper roller
(a) be less than slot (11) length on bottom plate (1) with value 1/2 of radius and gear ring (c) radius.
5. a kind of meal delivery robot pedestal of structure optimization according to claim 1, it is characterised in that: the positioning gear
(d) thickness is equal to the thickness of gear ring (c).
6. the meal delivery robot pedestal of a kind of structure optimization according to claim 1 or 5, it is characterised in that: described determines
At least provided with three, positioning gear (d) is uniformly distributed position gear (d) in a ring around the center of gear ring (c).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710081238.5A CN106826752B (en) | 2017-02-15 | 2017-02-15 | A kind of meal delivery robot pedestal of structure optimization |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710081238.5A CN106826752B (en) | 2017-02-15 | 2017-02-15 | A kind of meal delivery robot pedestal of structure optimization |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106826752A CN106826752A (en) | 2017-06-13 |
| CN106826752B true CN106826752B (en) | 2019-04-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710081238.5A Active CN106826752B (en) | 2017-02-15 | 2017-02-15 | A kind of meal delivery robot pedestal of structure optimization |
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| CN (1) | CN106826752B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109262580B (en) * | 2018-09-30 | 2020-06-19 | 荆门它山之石电子科技有限公司 | Wheeled robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1579715A (en) * | 2003-08-01 | 2005-02-16 | 三星电子株式会社 | Mobile robot |
| CN102085886A (en) * | 2011-01-11 | 2011-06-08 | 东南大学 | Folding hopping robot |
| CN103612682A (en) * | 2013-11-28 | 2014-03-05 | 北京邮电大学 | Spherical robot capable of jumping |
| CN204978936U (en) * | 2015-07-15 | 2016-01-20 | 昆明理工大学 | Building machine ware people is climbed to intelligence |
| CN205889199U (en) * | 2016-06-02 | 2017-01-18 | 哈尔滨理工大学 | Hospital guide service robot of hospital mobile device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101428327B1 (en) * | 2012-12-27 | 2014-08-07 | 현대자동차주식회사 | Apparatus for variable supporting foot of robot |
-
2017
- 2017-02-15 CN CN201710081238.5A patent/CN106826752B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1579715A (en) * | 2003-08-01 | 2005-02-16 | 三星电子株式会社 | Mobile robot |
| CN102085886A (en) * | 2011-01-11 | 2011-06-08 | 东南大学 | Folding hopping robot |
| CN103612682A (en) * | 2013-11-28 | 2014-03-05 | 北京邮电大学 | Spherical robot capable of jumping |
| CN204978936U (en) * | 2015-07-15 | 2016-01-20 | 昆明理工大学 | Building machine ware people is climbed to intelligence |
| CN205889199U (en) * | 2016-06-02 | 2017-01-18 | 哈尔滨理工大学 | Hospital guide service robot of hospital mobile device |
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| CN106826752A (en) | 2017-06-13 |
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| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20190321 Address after: 312500 Hengbanqiao Village, Rulan Town, Xinchang County, Shaoxing City, Zhejiang Province, No. 163 Applicant after: Xinchang Guanfu Machinery Co., Ltd. Address before: 523000 2, 205, innovation and Technology Park, Songshan Lake high tech Industrial Development Zone, Dongguan, Guangdong, China, 205 Applicant before: Dongguan Sheng Rong Automation Technology Co., Ltd. |
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