CN107160378A - Table service device for intelligent restaurant - Google Patents
Table service device for intelligent restaurant Download PDFInfo
- Publication number
- CN107160378A CN107160378A CN201710606343.6A CN201710606343A CN107160378A CN 107160378 A CN107160378 A CN 107160378A CN 201710606343 A CN201710606343 A CN 201710606343A CN 107160378 A CN107160378 A CN 107160378A
- Authority
- CN
- China
- Prior art keywords
- conveying arm
- stage casing
- epimere
- hypomere
- conveying
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Table Equipment (AREA)
Abstract
Manipulator is provided with the invention discloses a kind of table service device for intelligent restaurant, including by conveying arm and straight line module；The conveying arm constitutes three sections of combining structures by conveying arm epimere, conveying arm stage casing and conveying arm hypomere；Conveying arm epimere is horizontally movable to be located on aerial guide rail, is provided between conveying arm epimere and aerial guide rail from walking driver element；Conveying arm stage casing is moving up and down to be located at conveying arm epimere, and the first elevation driving unit is provided between conveying arm epimere and conveying arm stage casing；Conveying arm hypomere is moving up and down to be located on conveying arm stage casing, and the second elevation driving unit is provided between conveying arm hypomere and conveying arm stage casing；The straight line module is connected to the conveying arm hypomere end.The beneficial effects of the invention are as follows restaurant service function is complete, service quality is good, and space availability ratio is high, and simple in construction, compact in design, and manufacture efficiency is high, and manufacturing cost and use cost is low, and service life is long.
Description
Technical field
Patent of the present invention is related to a kind of restaurant table service equipment, particularly a kind of table service for intelligent restaurant
Device.
Background technology
With the progress and the quickening of hotel industry development of science and technology, dining room intellectuality is inexorable trend.Intelligent dining room includes
The intellectuality of multiple links, including order, with dining table cleaning service work before and after food delivery and guest's dining etc..Existing intelligence
The structure type for changing the food delivery facility in dining room is varied, including robot, conveyer chain, conveyer belt etc..But existing intelligent restaurant
Or these facilities exist complicated, floor space is big, and the speed of service is slow, the table service work before and after guest's dining
The deficiency completed mostly by attendant.There is the defect that investment is big, operation cost is high.For this reason, it may be necessary to further improve.
The content of the invention
There is provided a kind of table service dress for intelligent restaurant aiming at the deficiencies in the prior art for the purpose of the present invention
Put, the device using the manipulator of aerial mobile provide tableware put, collect with dining table cleaning service, to make full use of height empty
Between, reduce floor space；Dining table requirement for height can both be met by the conveying arm of three sections of stretching structures, also for below movable machinery
Sufficient space is reserved, to reach the optimization of space utilization；And it is real by setting independent driver element in each dropping section
Existing fast lifting purpose, meets efficient food delivery and related service job requirement.
To achieve the above object, the present invention is adopted the following technical scheme that.
A kind of table service device for intelligent restaurant, including manipulator is provided with by conveying arm and straight line module；Institute
State conveying arm and three sections of combining structures are constituted by conveying arm epimere, conveying arm stage casing and conveying arm hypomere；Conveying arm epimere can level
Mobile is located on aerial guide rail, is provided between conveying arm epimere and aerial guide rail from walking driver element；Conveying arm stage casing can
What is moved up and down is located at conveying arm epimere, and the first elevation driving unit is provided between conveying arm epimere and conveying arm stage casing；Conveying
Arm hypomere is moving up and down to be located on conveying arm stage casing, provided with the second lifting driving between conveying arm hypomere and conveying arm stage casing
Unit；The straight line module is connected to the conveying arm hypomere end.
Using the present invention of preceding solution, the move mode of aerial fixed track is used to run to serve the pre- of dining room
Determine region, wherein, aerial guide rail connection links together kitchen and dining room；Table service device completes to have dinner by manipulator
Front and rear dining table cleaning, and tableware is put before the meal, after the meal tableware collect medium to pallet, have manipulator by straight line module
There is the linear motion pattern consistent with the moving component of straight line module, with the service request for the multiple dining tables for meeting same row.Meal
Table service unit uses aerial mobile mode, can make full use of chamber height space, reduces floor space；Conveying arm rises in two sections
Three sections of stretching structures of motion are dropped, the requirement of dining table height change can be met, are also left for conveying arm operation lower section enough
Space, reaches the optimal purpose of space utilization.In addition, by setting independent driver element in each dropping section, realizing quick
Purpose is lifted, food delivery and the contour efficiency requirements of related service work can be fully met.Wherein, during straight line module is robot industry
Commodity base part, it uses rolling guide structure, with move along a straight line it is brisk, instantaneous velocity is high the features such as, generally also carry
Motor, can also be separately configured motor；The high-speed mobile requirement of rag, and other the quick of service of having dinner can fully be met
Movement needs.Direct commodities purchased is beneficial to improve manufacture efficiency, reduces manufacturing cost.
It is preferred that, the manipulator uses electronic clamping jaw, and its claw has V-arrangement jaw.Electronic clamping jaw is also known as robot
Handgrip, is the commodity base part in robot industry, and it has relative and opposite opening and closing campaign, and article is put to meet to grab to take
It is required that.When being grabbed for difference by object, it is only necessary to change special jaw.And the relative V-arrangement claw of two jaws is applicable to respectively
The article of kind of shape, which grabs to take, to be put, and is grabbed to take to meet cup, bowl, Pan, Portland, pot, and chopsticks and rag etc. and is put requirement.Directly adopt
Purchase commodity to be beneficial to improve manufacture efficiency, reduce manufacturing cost.
It is preferred that, the straight line module is rotatably located on conveying arm hypomere by module installing plate, under the conveying arm
Section is provided with the module rotary drive motor for being used for driving the module installing plate to rotate.To be realized using module rotary drive motor
Straight line module is rotated, and to provide the dining services requirement of same dining table gross area covering, is improved service quality and efficiency, is dropped
Low operating cost.
It is preferred that, it is described from walking driver element include intermeshing first gear and the first rack, first gear by
First motor-driven rotation；First rack is fixedly connected between two parallel orbits of guide rail in the air.Pass through rack and pinion engagement
Reliable conveying motion is formed, the first motor can use reducing motor, can be also combined using independent motor and speed reducer
Structure, wherein, reducing motor can further cramped construction, reduce manufacture installation workload, improve manufacture efficiency.
It is preferred that, first elevation driving unit includes second gear and the second rack, and second gear is rotatably set
On conveying arm stage casing, the second rack is fixedly connected on conveying arm epimere.With real by simple rack pinion structure
The elevating movement in existing conveying arm stage casing, and compact conformation.
Rotated it is further preferred that the second gear is driven by right angle reductor by lifting motor.Utilize existing business
The right angle reductor of category realizes the angular transition of input and output shaft, can effective cramped construction, reduce conveying arm volume, mitigate weight
Amount, saves and drops from the air and reduce energy consumption.
It is further preferred that second elevation driving unit transmits powered motion by toothed belt transmission structure, it is synchronous
V belt translation structure includes active synchronization wheel, timing belt and reverse wheel, and active synchronization wheel is fixedly and coaxially connected in the second gear
Installation axle on, the installation axle is made up of the output shaft of the right angle reductor.To form the toothed belt transmission of conveying arm hypomere
Structure, and second gear and active synchronization wheel synchronous axial system are driven simultaneously using same set of motor and speed reducer, simplified and tight
Gather structure while, also make full use of the characteristics of timing belt operates steadily, noise is small, reduce noise, optimization dining environment.
The beneficial effects of the invention are as follows, restaurant service function is complete, service quality is good, and space availability ratio is high, and simple in construction,
Compact in design, manufacture efficiency is high, and manufacturing cost and use cost is low, and service life is long.
Brief description of the drawings
Fig. 1 is the structural representation axonometric drawing of the present invention.
Embodiment
The present invention is further illustrated below in conjunction with the accompanying drawings, but does not therefore limit the present invention to described implementation
Among example scope.
Referring to Fig. 1, a kind of table service device for intelligent restaurant, including it is provided with by conveying arm and straight line module 7
Manipulator 2；The conveying arm constitutes three sections of combining structures by conveying arm epimere 3, conveying arm stage casing 5 and conveying arm hypomere 6；Conveying
Arm epimere 3 is horizontally movable to be located on aerial guide rail 4, and aerial guide rail 4 is fixed on the wall in dining room by rail brackets 4a, empty
Middle guide 4 is in provided with to clap dining tables and seat in the double-rail configuration that is distributed up and down, dining room more, to form multiple seats in a restaurant, dining room with
Kitchen is connected by aerial guide rail 4, is provided between conveying arm epimere 3 and aerial guide rail 4 from walking driver element；Conveying arm stage casing
5 it is moving up and down be located at conveying arm epimere 3, it is single provided with the first lifting driving between conveying arm epimere 3 and conveying arm stage casing 5
Member；Conveying arm hypomere 6 is moving up and down to be located on conveying arm stage casing 5, is provided between conveying arm hypomere 6 and conveying arm stage casing 5
Second elevation driving unit；The straight line module 7 is connected to the end of conveying arm hypomere 6.
Wherein, manipulator 2 uses electronic clamping jaw, and its claw has V-arrangement jaw；Straight line module 7 passes through module installing plate
18 are rotatably located on conveying arm hypomere 6, and the conveying arm hypomere 6 is provided with the mould for being used for driving the module installing plate 18 to rotate
Group rotary drive motor 17.
Include the intermeshing rack 9 of first gear 8 and first from walking driver element, first gear 8 is by the first motor
10 drivings are rotated, and the first motor 10 uses reducing motor, and first gear 8 is coaxially fixed on the output shaft of the reducing motor, and
The output shaft is in vertical direction；First rack 9 is fixedly connected between two parallel orbits of guide rail 4 in the air.
First elevation driving unit includes the rack 12 of second gear 11 and second, and second gear 11 is rotatably located at conveying
On arm stage casing 5, the second rack 12 is fixedly connected on conveying arm epimere 3.Second gear 11 is by right angle reductor 13 by lifting
The driving of motor 14 is rotated.Second elevation driving unit transmits powered motion, toothed belt transmission by toothed belt transmission structure
Structure includes active synchronization wheel 15, timing belt and reverse wheel, and active synchronization wheel 15 is fixedly and coaxially connected in the second gear 11
Installation axle on 16, the installation axle 16 is made up of the output shaft of the right angle reductor 13.
Aerial guide rail 4 in the present embodiment can also use two parallel track structures of horizontal distribution, and the level of first gear 8 is set
Put, the first rack 9 is individually located at aerial guide rail 4 and the top of first gear 8, conveying arm epimere 3 hangs two water of guide rail 4 in the air
Between the track for dividing cloth equally.In this scheme, the decelerator of the first motor 10 is preferably with right-angle reduction device.
The first motor 10, lifting motor 14 and module rotary drive motor 17 in the present embodiment using stepper motor or
Servomotor, is controlled with realizing displacement by the control of the motor output shaft anglec of rotation or rotating radian.
The structure that synchronizing wheel 15 in the present embodiment can also be driven using separate electrical motor, to adapt to conveying arm stage casing 5 and defeated
Send the movement velocity adjustment requirement of arm hypomere 6.
Preferred embodiment of the invention described in detail above.It should be appreciated that one of ordinary skill in the art without
Need creative work just can make many modifications and variations according to the design of the present invention.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical scheme, all should be in the protection domain being defined in the patent claims.
Claims (7)
1. a kind of table service device for intelligent restaurant, it is characterised in that including being set by conveying arm and straight line module (7)
There is manipulator (2)；The conveying arm constitutes three sections of groups by conveying arm epimere (3), conveying arm stage casing (5) and conveying arm hypomere (6)
Close structure；Conveying arm epimere (3) is horizontally movable to be located on aerial guide rail (4), conveying arm epimere (3) and aerial guide rail (4)
Between be provided with from walking driver element；Conveying arm stage casing (5) is moving up and down to be located at conveying arm epimere (3), conveying arm epimere
(3) the first elevation driving unit is provided between conveying arm stage casing (5)；Conveying arm hypomere (6) is moving up and down to be located at conveying
On arm stage casing (5), the second elevation driving unit is provided between conveying arm hypomere (6) and conveying arm stage casing (5)；The straight line module
(7) it is connected to conveying arm hypomere (6) end.
2. the table service device according to claim 1 for intelligent restaurant, it is characterised in that the manipulator (2)
Using electronic clamping jaw, and its claw has V-arrangement jaw.
3. the table service device according to claim 1 for intelligent restaurant, it is characterised in that the straight line module
(7) rotatably it is located at by module installing plate (18) on conveying arm hypomere (6), the conveying arm hypomere (6), which is provided with, to be used to drive
The module rotary drive motor (17) that the module installing plate (18) rotates.
4. the table service device according to claim 1 for intelligent restaurant, it is characterised in that described from hoofing part
Unit includes intermeshing first gear (8) and the first rack (9), and first gear (8) is driven by the first motor (10) and rotated；
First rack (9) is fixedly connected between two parallel orbits of guide rail (4) in the air.
5. the table service device according to claim 1 for intelligent restaurant, it is characterised in that first lifting is driven
Moving cell includes second gear (11) and the second rack (12), and second gear (11) is rotatably located on conveying arm stage casing (5),
Second rack (12) is fixedly connected on conveying arm epimere (3).
6. the table service device according to claim 5 for intelligent restaurant, it is characterised in that the second gear
(11) driven and rotated by lifting motor (14) by right angle reductor (13).
7. the table service device according to claim 5 for intelligent restaurant, it is characterised in that second lifting is driven
Moving cell includes active synchronization wheel (15), timing belt and reverse wheel, and active synchronization wheel (15) is fixedly and coaxially connected described second
In the installation axle of gear (11) (16), the installation axle (16) is made up of the output shaft of the right angle reductor (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710606343.6A CN107160378A (en) | 2017-07-24 | 2017-07-24 | Table service device for intelligent restaurant |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710606343.6A CN107160378A (en) | 2017-07-24 | 2017-07-24 | Table service device for intelligent restaurant |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107160378A true CN107160378A (en) | 2017-09-15 |
Family
ID=59817338
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710606343.6A Pending CN107160378A (en) | 2017-07-24 | 2017-07-24 | Table service device for intelligent restaurant |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107160378A (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107618041A (en) * | 2017-10-11 | 2018-01-23 | 深圳市玖品空气净化科技有限公司 | A kind of meal delivery robot of the high safety factor based on Internet of Things |
| CN107647800A (en) * | 2017-11-09 | 2018-02-02 | 重庆市臻憬科技开发有限公司 | A kind of intelligent kitchen agitator |
| CN108312141A (en) * | 2018-04-13 | 2018-07-24 | 东北大学 | A kind of the balance mechanical arm and application method of meal delivery robot |
| CN109434814A (en) * | 2018-11-16 | 2019-03-08 | 东莞市承恩自动化设备有限公司 | Free-standing manipulator |
| CN109986547A (en) * | 2019-03-08 | 2019-07-09 | 浙江大学 | A kind of four-degree-of-freedom operating device in the confined space |
| CN110340879A (en) * | 2019-08-26 | 2019-10-18 | 珠海格力智能装备有限公司 | Clamping device |
| CN110815267A (en) * | 2019-11-29 | 2020-02-21 | 航天科技控股集团股份有限公司 | Clamping jaw structure capable of accurately positioning pointer |
| CN111844132A (en) * | 2020-07-24 | 2020-10-30 | 珠海格力智能装备有限公司 | Mechanical arm |
| WO2021012576A1 (en) * | 2019-07-19 | 2021-01-28 | 苏州光越微纳科技有限公司 | Folding linear module |
| CN113443436A (en) * | 2021-07-17 | 2021-09-28 | 深圳市键嘉电子有限公司 | Efficient full-automatic feeding and discharging equipment |
| CN114940288A (en) * | 2022-04-06 | 2022-08-26 | 北京航天石化技术装备工程有限公司 | Flexible container bag feeding mechanism and method |
| CN115741647A (en) * | 2022-12-19 | 2023-03-07 | 吉林化工学院 | Mechanical arm for machine-building |
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| CN106003001A (en) * | 2016-07-12 | 2016-10-12 | 张学衡 | Automatic supermarket goods placement robot |
| CN106181976A (en) * | 2016-07-26 | 2016-12-07 | 温州职业技术学院 | Lamp socket three inserted sheet automatic catching robot system |
| CN106586543A (en) * | 2016-12-31 | 2017-04-26 | 汕头市新青罐机有限公司 | Intelligent mechanical arm carrying device |
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| US4721005A (en) * | 1985-06-06 | 1988-01-26 | Honda Giken Kogyo Kabushiki Kaisha | Robot apparatus |
| JP2009072840A (en) * | 2007-09-19 | 2009-04-09 | Hirata Corp | Handling device |
| CN202781152U (en) * | 2012-06-27 | 2013-03-13 | 上研机电股份有限公司 | Machine arm mechanism capable of translating and lifting |
| CN103203736A (en) * | 2013-05-02 | 2013-07-17 | 宁夏巨能机器人系统有限公司 | Folding retractable vertical beam for trussed mechanical arm |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107618041B (en) * | 2017-10-11 | 2020-08-21 | 广东新又好企业管理服务有限公司 | High factor of safety's food delivery robot based on thing networking |
| CN107618041A (en) * | 2017-10-11 | 2018-01-23 | 深圳市玖品空气净化科技有限公司 | A kind of meal delivery robot of the high safety factor based on Internet of Things |
| CN107647800A (en) * | 2017-11-09 | 2018-02-02 | 重庆市臻憬科技开发有限公司 | A kind of intelligent kitchen agitator |
| CN108312141A (en) * | 2018-04-13 | 2018-07-24 | 东北大学 | A kind of the balance mechanical arm and application method of meal delivery robot |
| CN109434814A (en) * | 2018-11-16 | 2019-03-08 | 东莞市承恩自动化设备有限公司 | Free-standing manipulator |
| CN109986547A (en) * | 2019-03-08 | 2019-07-09 | 浙江大学 | A kind of four-degree-of-freedom operating device in the confined space |
| WO2021012576A1 (en) * | 2019-07-19 | 2021-01-28 | 苏州光越微纳科技有限公司 | Folding linear module |
| CN110340879A (en) * | 2019-08-26 | 2019-10-18 | 珠海格力智能装备有限公司 | Clamping device |
| CN110815267A (en) * | 2019-11-29 | 2020-02-21 | 航天科技控股集团股份有限公司 | Clamping jaw structure capable of accurately positioning pointer |
| CN111844132A (en) * | 2020-07-24 | 2020-10-30 | 珠海格力智能装备有限公司 | Mechanical arm |
| CN113443436A (en) * | 2021-07-17 | 2021-09-28 | 深圳市键嘉电子有限公司 | Efficient full-automatic feeding and discharging equipment |
| CN114940288A (en) * | 2022-04-06 | 2022-08-26 | 北京航天石化技术装备工程有限公司 | Flexible container bag feeding mechanism and method |
| CN115741647A (en) * | 2022-12-19 | 2023-03-07 | 吉林化工学院 | Mechanical arm for machine-building |
| CN115741647B (en) * | 2022-12-19 | 2023-08-11 | 吉林化工学院 | Mechanical arm for mechanical manufacturing |
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Application publication date: 20170915 |