CN107336227B

CN107336227B - Dish-serving robot

Info

Publication number: CN107336227B
Application number: CN201710659163.4A
Authority: CN
Inventors: 王国阳; 杨大崇; 王国锋
Original assignee: Shanghai Jinghong Robot Co ltd
Current assignee: Shanghai Jinghong Robot Co ltd
Priority date: 2017-08-04
Filing date: 2017-08-04
Publication date: 2022-10-11
Anticipated expiration: 2037-08-04
Also published as: CN107336227A

Abstract

The invention relates to the technical field of robots, in particular to a dish serving robot, which is characterized in that: the vegetable shovel comprises a fixing frame, a driving device, a linkage device, a simulation arm, a vegetable shovel and a vegetable containing basin, wherein the linkage device comprises four cams, a cam shaft, a lower arm fixing shaft, three lower driving arms, three upper driving arms, a driving arm connecting rod and a sleeve connecting shaft, and the driving device drives the linkage device to enable the simulation arm to move, so that the vegetable shovel can beat vegetables from the vegetable containing basin. Compared with the prior art, the linkage device is driven to move by the driving device, so that the dish serving action of the arm is simulated, and automatic dish serving is realized; furthermore, the driving device can be started by swiping the card, and deduction is carried out.

Description

Dish-serving robot

Technical Field

The invention relates to the technical field of robots, in particular to a dish serving robot.

Background

The current student canteens are all manually used for dishes by canteen staff, and automation cannot be realized.

In addition, the payment is made by the students swiping cards through the IC card dining room charging machine, which is not very convenient.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide an automatic dish-serving robot.

In order to realize the purpose, the dish serving robot is characterized in that:

comprises a fixed frame, a driving device, a linkage device, a simulation arm, a vegetable shovel and a vegetable containing basin;

the fixing frame comprises a bottom frame and a side plate fixed above the bottom frame;

the linkage device comprises four cams, a cam shaft, a lower arm fixing shaft, three lower driving arms, three upper driving arms, a driving arm connecting rod and a sleeve joint shaft;

the sleeve shaft comprises an outer end pulley shaft, an upper arm linkage shaft sleeve and an inner end pulley shaft sleeve; the outer end belt pulley shaft comprises an outer end belt pulley and a rotating shaft vertically connected with the circle center of one side of the outer end belt pulley; the upper arm linkage shaft sleeve comprises a fixed plate and a middle shaft sleeve vertically connected with one side of the fixed plate; the inner end belt pulley shaft sleeve comprises an inner end belt pulley and an outer layer shaft sleeve which is vertically connected with a shaft hole at one side of the inner end belt pulley; the rotating shaft of the outer end belt pulley shaft is embedded in a middle shaft sleeve of the upper arm linkage shaft sleeve, the middle shaft sleeve is embedded in an outer layer shaft sleeve of the inner end belt pulley shaft sleeve, and intervals are respectively arranged among the outer end belt pulley, the fixed plate and the inner end belt pulley; the end of the rotating shaft of the outer end belt pulley shaft protrudes out of the end of the middle shaft sleeve, and the end of the middle shaft sleeve protrudes out of the end of the outer layer shaft sleeve;

the shaft part of the sleeve shaft sequentially and horizontally penetrates through the upper parts, close to the inner side plates, of the outer side of the fixing frame from the outer side, the outer end belt pulley, the fixing plate and the inner end belt pulley of the sleeve shaft are positioned outside the outer side plates, and the part of the end part of the rotating shaft, the end part of the middle shaft sleeve and the end part of the outer layer shaft sleeve are positioned between the inner side plate and the outer side plate;

two ends of the camshaft are fixed on an inner side plate and an outer side plate below the sleeve joint shaft, and the end head of the outer side of the camshaft is positioned outside the outer side plate; the four cams are fixedly sleeved on the cam shaft at intervals, symmetrical curve grooves are respectively arranged on the opposite surfaces of any two adjacent cams, a pin column is arranged in the middle of the lower driving arm, and two ends of the pin column are respectively embedded into the curve grooves of the two corresponding cams positioned on two sides of the pin column;

two ends of the lower arm fixing shaft are fixed on an inner side plate and an outer side plate which are positioned at the rear side below the cam shaft; the rear end of the lower driving arm is connected to the lower arm fixing shaft in a shaft mode, and the front end of the lower driving arm is connected to one end of the driving arm connecting rod in a shaft mode;

the rear ends of the three upper driving arms are respectively fixedly sleeved on the rotating shaft end part of the outer end belt pulley shaft, the end part of the middle shaft sleeve and the end part of the outer layer shaft sleeve; the front ends of the upper driving arms are respectively connected with the other ends of the corresponding driving arm connecting rods in a shaft manner;

the driving device comprises a motor, a driving gear, a driven gear and a toothed ring belt; the end face of the motor is fixed on any side plate, an output shaft of the motor penetrates through the outer side plate and is coupled with a driving gear through a coupling, the driven gear is coupled to the end head of the outer side of the cam shaft, and the driving gear and the driven gear are linked through a toothed ring belt;

the simulation arm comprises an upper arm rod, a lower arm rod, two side bevel gears, a bevel gear, a U-shaped shaft lug and a connecting shaft; the inner side surface of the upper end of the upper arm rod is provided with an upper U-shaped groove, the front side surface of the lower end of the upper arm rod is provided with a lower U-shaped groove, and the fixing plate is fixed in the upper U-shaped groove in a nested manner; two side lugs at the opening of the U-shaped lug piece are respectively connected with two ends of a connecting shaft in a shaft coupling mode, two lower belt pulleys are respectively sleeved on the connecting shafts on the inner sides of the two side lugs, the connecting shaft between the two lower belt pulleys respectively penetrates through the lower end of the upper arm rod, the disc surfaces of the two lower belt pulleys are fixed with the lugs of the U-shaped lug piece, and two side bevel gears are respectively sleeved on the connecting shafts in the lower U-shaped groove of the upper arm rod; the lower belt pulley positioned on the outer side is fixedly connected with the connecting shaft, and the lower belt pulley positioned on the inner side is in smooth sleeve joint with the connecting shaft; the side bevel gear positioned on the outer side is in smooth sleeve joint with the connecting shaft, and the side bevel gear positioned on the inner side is fixedly connected with the connecting shaft; the same bevel gear is meshed between the two side bevel gears, and the connecting end surface of the bevel gear facing the front side is fixedly connected with the upper end of the lower arm rod; the lower end of the lower arm rod penetrates through the bottom plate of the U-shaped shaft lug;

the outer end belt pulley and the inner end belt pulley are respectively and correspondingly connected with two lower belt pulleys by adopting belts;

the lower end of the lower arm rod of the simulation arm is fixedly connected with the upper end of a handle of the vegetable shovel; the shovel part of the vegetable shovel is positioned in the vegetable containing basin, and the front side surface of the vegetable containing basin is provided with a dinner plate shelf for placing dinner plates.

And fixed shaft sleeves are respectively arranged between the end part of the rotating shaft of the outer end pulley shaft and the outer shaft sleeve of the inner end pulley shaft sleeve and the inner side plate and the outer side plate at the penetrating position.

The central axes of the sleeve shaft and the camshaft are parallel on the same vertical plane, and the lower arm fixing shaft is positioned behind the vertical plane.

The lower arm rod is cylindrical, and a ball bearing is arranged between the bottom plate of the U-shaped shaft lug piece and the lower arm rod.

The top and the bottom of the side plate are respectively provided with an upper cover plate and a lower cover plate, and the front and the back of the side plate are respectively provided with a panel.

The dish containing basin is placed in the bottom layer frame, and the dinner plate shelf is arranged on the bottom layer frame.

The linkage device, the simulation arm, the vegetable shovel and the vegetable containing basin are respectively arranged in a bilateral symmetry manner;

two driving devices are arranged;

the two linkage devices which are symmetrically arranged at the left and the right share one inner side plate;

the two outer side plates are wider than the shared inner side plate, so that a groove structure is formed on the vertical projection surface, and a motor in the driving device is accommodated in the groove structure;

two motors in the driving device are arranged up and down, and the output ends of the two motors face the left side and the right side respectively.

The signal control end of the motor is connected with the signal output end of the control chip, the corresponding pins of the control chip are respectively connected with the power supply conversion circuit, the solid-state relay and the IC card reader-writer, and the IC card reader-writer and the recharging IC card are in communication with each other to start the power supply to drive the motor to rotate and deduct money to rewrite the money in the recharging IC card.

The simulation arm position detection device also comprises a position sensor for detecting the position of the simulation arm and a photoelectric sensor for detecting the dinner plate; the position sensor is arranged in an upper arm rod of the simulation arm, and the photoelectric sensor is arranged on the dinner plate shelf; and the signal output end of the position sensor and the signal output end of the photoelectric sensor are respectively and electrically connected with the corresponding signal input end of the control chip.

The upper cover plate is in shaft connection with the lower end of the rotating shaft, the upper part of the rotating shaft is connected with the simulation head, a steering engine is arranged in the simulation head, and the output shaft of the steering engine is in shaft connection with the upper end of the rotating shaft through another coupling; and a display panel is arranged on the front side of the simulation head, and a signal control end of the steering engine and an input end of the display panel are respectively connected with corresponding signal ends of the control chip.

Compared with the prior art, the linkage device is driven to move by the driving device, so that the dish serving action of the arm is simulated, and automatic dish serving is realized; furthermore, the driving device can be started by swiping a card, and deduction is carried out.

Drawings

Fig. 1 is a perspective view of the present invention.

Fig. 2 is a perspective view of another embodiment of the present invention.

FIG. 3 is a perspective view of the vegetable-holding pot with the front panel, the upper cover plate and the vegetable-holding pot removed.

FIG. 4 is a perspective view of the present invention with one set of linkage and drive removed.

FIG. 5 is a perspective assembly view of the upper and lower drive arms of the linkage assembly of the present invention with the socket shaft and the lower arm stationary shaft, respectively.

Fig. 6 is a perspective view of the lower arm lever of the dummy arm according to the present invention.

Fig. 7 to 10 are front views of four cams according to the present invention, respectively.

Figure 11 is a perspective view of the outer end pulley shaft of the present invention.

Fig. 12 is a perspective view of an upper arm link bushing according to the present invention.

Fig. 13 is a perspective view of an inner end pulley sleeve of the present invention.

Fig. 14 is a perspective view of a camshaft in the present invention.

Figure 15 is a perspective view of the upper drive arm of the present invention.

Figure 16 is a perspective view of the lower drive arm of the present invention.

Fig. 17 is a perspective view of an upper arm bar according to the present invention.

Fig. 18 is a perspective view of an outer side plate of the present invention.

Fig. 19 to 30 are circuit diagrams of respective circuit portions in the present invention, in which fig. 19 is a circuit diagram of a control chip; FIG. 20 is a circuit diagram of a two-way solid state relay; fig. 21 is a power conversion circuit.

Detailed Description

The present invention will be further described with reference to the following examples.

Example 1

The vegetable serving robot can be provided with one simulation arm or two simulation arms. In this example, robots simulating two arms are used as an example. The method comprises the following specific steps:

referring to fig. 1 to 18, a dish serving robot is characterized in that:

comprises a fixed frame, a driving device 2, a linkage device, a simulation arm 4, a vegetable shovel 5 and a vegetable containing basin 6;

the fixing frame comprises a bottom frame 1-1 and a side plate 1-2 fixed above the bottom frame;

the linkage device comprises four cams 3-71-3-74, a cam shaft 3-1, a lower arm fixing shaft 3-2, three lower driving arms 3-3, three upper driving arms 3-4, driving arm connecting rods 3-5 and a sleeve shaft 3-6;

the sleeve shaft 3-6 comprises an outer end pulley shaft 3-61, an upper arm linkage shaft sleeve 3-62 and an inner end pulley shaft sleeve 3-63; the outer end pulley shaft 3-61 comprises an outer end pulley 3-611 and a rotating shaft 3-612 vertically connected with the circle center of one side of the outer end pulley; the upper arm linkage shaft sleeve 3-62 comprises a fixed plate 3-621 and a middle shaft sleeve 3-622 vertically connected with one side of the fixed plate; the inner end pulley shaft sleeve 3-63 comprises an inner end pulley 3-631 and an outer layer shaft sleeve 3-632 vertically connected with a shaft hole at one side of the inner end pulley; the rotating shaft 3-612 of the outer end pulley shaft is embedded in the middle shaft sleeve 3-622 of the upper arm linkage shaft sleeve, the middle shaft sleeve 3-622 is embedded in the outer layer shaft sleeve 3-632 of the inner end pulley shaft sleeve, and a space is respectively arranged among the outer end pulley 3-611, the fixed plate 3-621 and the inner end pulley 3-631; the end of a rotating shaft 3-612 of the outer end belt pulley shaft protrudes out of the end of the middle shaft sleeve 3-622, and the end of the middle shaft sleeve 3-622 protrudes out of the end of the outer layer shaft sleeve 3-632;

the shaft part of the sleeve shaft 3-6 horizontally penetrates through the upper part of the lateral plate 1-2 at the outer side and the inner side of the fixed frame from the outer side in sequence, the outer end belt pulley 3-611, the fixed plate 3-621 and the inner end belt pulley 3-631 of the sleeve shaft 3-6 are all positioned outside the lateral plate at the outer side, and the part of the end part of the rotating shaft 3-612, the end part of the middle shaft sleeve 3-622 and the end part of the outer layer shaft sleeve 3-632 are all positioned between the inner lateral plate and the outer lateral plate;

two ends of the camshaft 3-1 are fixed on an inner side plate 1-2 and an outer side plate 1-2 below the sleeve joint shaft 3-6, and the end head of the outer side of the camshaft 3-1 is positioned outside the outer side plate 1-2; the four cams 3-71-3-74 are fixedly sleeved on the camshaft 3-1 at intervals, symmetrical curve grooves 3-8 are respectively arranged on the opposite surfaces of any two adjacent cams, a pin 3-31 is arranged in the middle of the lower driving arm 3-3, and two ends of the pin 3-31 are respectively embedded in the curve grooves 3-8 of the corresponding two cams positioned at two sides of the pin;

two ends of the lower arm fixing shaft 3-2 are fixed on an inner side plate 1-2 and an outer side plate 1-2 which are positioned at the rear side below the cam shaft 3-1; the rear end of the lower driving arm 3-3 is connected to the lower arm fixing shaft 3-2 in a shaft mode, and the front end of the lower driving arm 3-3 is connected to one end of a driving arm connecting rod 3-5 in a shaft mode;

the rear ends of the three upper driving arms 3-4 are respectively fixedly sleeved on the end parts of the rotating shafts 3-612 of the outer end belt wheel shafts, the end parts of the middle shaft sleeves 3-622 and the end parts of the outer layer shaft sleeves 3-632; the front ends of the upper driving arms 3-4 are respectively connected with the other ends of the corresponding driving arm connecting rods 3-5 in a shaft way;

the driving device 2 comprises a motor 2-1, a driving gear 2-2, a driven gear 2-3 and a toothed ring belt 2-4; the end face of the motor 2-1 is fixed on any side plate 1-2, an output shaft of the motor 2-1 penetrates through the side plate 1-2 on the outer side and is coupled with the driving gear 2-2 through a coupler, the driven gear 2-3 is coupled on the end head on the outer side of the cam shaft 3-1, and a toothed ring belt 2-4 is adopted for linking the driving gear 2-2 and the driven gear 2-3;

the simulation arm 4 comprises an upper arm rod 4-1, a lower arm rod 4-2, two side bevel gears 4-3, bevel gears 4-4, U-shaped shaft ear pieces 4-5 and a connecting shaft 4-6; the inner side surface of the upper end of the upper arm rod 4-1 is provided with an upper U-shaped groove 4-11, the front side surface of the lower end of the upper arm rod 4-1 is provided with a lower U-shaped groove 4-12, and the fixing plate 3-621 is fixed in the upper U-shaped groove 4-11 in an embedded mode; two side lugs at the opening of the U-shaped lug piece 4-5 are respectively coupled with two ends of a connecting shaft 4-6, two lower belt pulleys 4-7 are respectively sleeved on the connecting shaft 4-6 at the inner sides of the two side lugs, the lower end of an upper arm rod 4-1 is respectively penetrated on the connecting shaft 4-6 between the two lower belt pulleys 4-7, the disk surfaces of the two lower belt pulleys 4-7 are fixed with the lugs of the U-shaped lug piece 4-5, and two side bevel gears 4-3 are respectively sleeved on the connecting shaft 4-6 in a lower U-shaped groove 4-12 of the upper arm rod 4-1; wherein, the lower belt pulley 4-7 positioned at the outer side is fixedly connected with the connecting shaft 4-6, and the lower belt pulley 4-7 positioned at the inner side is smoothly sleeved with the connecting shaft 4-6; the side bevel gear 4-3 positioned at the outer side is in smooth sleeve joint with the connecting shaft 4-6, and the side bevel gear 4-3 positioned at the inner side is fixedly connected with the connecting shaft 4-6; the two side bevel gears 4-3 are engaged with the same bevel gear 4-4, and the connecting end surface of the bevel gear 4-4 facing the front side is fixedly connected with the upper end of the lower arm rod 4-2; the lower end of the lower arm rod 4-2 penetrates through a bottom plate of the U-shaped shaft ear piece 4-5;

the outer end belt pulley 3-611 and the inner end belt pulley 3-631 are respectively and correspondingly connected with two lower belt pulleys 4-7 by adopting belts 4-8;

the lower end of a lower arm rod 4-2 of the simulation arm 4 is fixedly connected with the upper end of a handle of the vegetable shovel 5; the shovel part of the vegetable shovel 5 is positioned in the vegetable containing basin 6, and the front side surface of the vegetable containing basin 6 is provided with a dinner plate shelf 6-2 for placing dinner plates. In this case, the vegetable basin 6 can be designed to be conical.

In the scheme, the outer contours of the four cams 3-71-3-74 are respectively circular.

In an initial state, the simulation arm is in a drooping state, the shovel part of the vegetable shovel is positioned at the bottom of the vegetable containing basin 6, the motor 2-1 is started to drive the cam shaft 3-1 and the four cams 3-71-3-74 on the cam shaft to rotate together when the vegetable shovel works, the four rotating cams drive the lower driving arm, the connecting rod 3-5 of the driving arm and the upper driving arm 3-4 to move along the track of the curved groove 3-8 of the cam through respective pins 3-31, and the rotating motion of the three upper driving arms 3-4 drives the outer end belt wheel shaft 3-61, the upper arm linkage shaft sleeve 3-62 and the inner end belt wheel shaft sleeve 3-63 which are connected with each other to rotate. In the scheme, the three upper driving arms and the three lower driving arms have different movement tracks due to different designs of curved grooves pinned by three pins 3-31, so that the rotation angles and the sequence of the outer end pulley shaft 3-61, the upper arm linkage shaft sleeve 3-62 and the inner end pulley shaft sleeve 3-63 are different in sequence, and a series of actions of falling, vegetable shoveling, lifting, turning, vegetable pouring and withdrawing of the vegetable shovel 5 are realized. The upper arm linkage shaft sleeve 3-62 mainly drives the upper arm rod 4-1 to rotate around an X axis, so that the U-shaped shaft lug 4-5 is driven to rotate up and down, the lower arm rod 4-2 is driven to rotate up and down, the outer end pulley shaft 3-61 drives the lower belt pulley 4-7 to rotate, so that the connecting shaft 4-6 is driven to rotate, the connecting shaft 4-6 drives the side bevel gear 4-3 on the inner side to rotate together, the side bevel gear 4-3 drives the bevel gear 4-4 to rotate, and the side bevel gear 4-3 on the outer side is matched with the side bevel gear 4-3 on the inner side to stabilize the bevel gear 4-4; the bevel gear 4-4 drives the lower arm rod 4-2 to rotate around the Y axis.

Furthermore, fixed shaft sleeves 3-9 are respectively arranged between the end part of a rotating shaft 3-612 of the outer end pulley shaft, an outer layer shaft sleeve 3-632 of the inner end pulley shaft sleeve and an inner side plate 1-2 and an outer side plate 1-2 at the penetrating position.

Furthermore, the central axes of the socket sleeve shaft 3-6 and the camshaft 3-1 are parallel on the same vertical plane, and the lower arm fixing shaft 3-2 is positioned behind the vertical plane.

Further, the lower arm rod 4-2 is cylindrical, and a ball bearing 4-9 is arranged between the bottom plate of the U-shaped shaft lug 4-5 and the lower arm rod 4-2. In the present case, a plurality of connecting plates may be disposed between the U-shaped shaft lugs 4-5, the lower arm 4-2 passes through the connecting plates, and another ball bearing is disposed between the lower arm 4-2 and the connecting plates.

Furthermore, the top and the bottom of the side plate 1-2 are respectively provided with an upper cover plate 1-3 and a lower cover plate 1-4, and the front and the back of the side plate 1-2 are respectively provided with a panel 1-5. Therefore, the linkage device is convenient to take integrally, the linkage device can be placed in a simulated body or an interesting body, and the upper cover plate 1-3 can be provided with a simulated head.

Further, the dish containing basin 6 is placed in the bottom layer frame 6-1, and the dinner plate shelf 6-2 is arranged on the bottom layer frame 6-1.

Furthermore, the linkage device, the simulation arm 4, the vegetable shovel 5 and the vegetable containing basin 6 are respectively arranged in a bilateral symmetry manner;

two driving devices 2 are arranged;

the two linkage devices which are symmetrically arranged at the left and the right share one inner side plate 1-2;

the two outer side plates 1-2 are wider than the shared inner side plate 1-2, so that a groove structure is formed on the vertical projection surface, and the groove structure is used for accommodating a motor 2-1 in the driving device; two motors 2-1 in the driving device are arranged up and down, and the output ends of the two motors 2-1 face the left side and the right side respectively.

Further, referring to fig. 19 to fig. 30, a signal control end of the motor is connected to a signal output end of the control chip, corresponding pins of the control chip are also connected to the power conversion circuit, the solid-state relay, and the IC card reader/writer and the rechargeable IC card communicate to start the power supply to drive the motor to rotate and to deduct money to rewrite the amount of money in the rechargeable IC card. The IC card reader/writer in this example is an IC Chinese speech consumer, model YHCXF-850/950, which communicates with the control chip through the terminals shown in FIG. 29. The IC card reader-writer and the rechargeable IC card are communicated to start the power supply driving motor to rotate and deduct money to rewrite the money in the rechargeable IC card. Due to the design, people start the motor to rotate for a circle by swiping a card, so that the simulation arm is driven to move, and the actions of containing, dumping and resetting of the vegetable shovel are realized. In this example, the motor is an alternating current motor, and the starting capacitor is CBB61, see FIG. 25; referring to fig. 20, the solid-state relay is a two-way solid-state relay SAD4010D, and controls the motor to rotate forward and backward; referring to fig. 19, the control chip adopts an STM32F103C8T6 single chip microcomputer, the SRAM of which is 20k, and the flash of which is 64K; the power conversion circuit adopts an LM1117 power supply chip, see FIG. 21.

Furthermore, the device also comprises a position sensor for detecting the position of the simulation arm and a photoelectric sensor for detecting the dinner plate; the position sensor is arranged in an upper arm rod 4-1 of the simulation arm 4, and the photoelectric sensor is arranged on the dinner plate shelf 6-2; and the signal output end of the position sensor and the signal output end of the photoelectric sensor are respectively and electrically connected with the corresponding signal input end of the control chip. The working process is as follows: the mainboard adopts the 5V power supply, provides 5V power for each way sensor. The power conversion circuit converts the 5V power supply into 3.3V power supply to provide power for the control chip. After the dish serving robot is powered on, the position sensor is firstly detected, if the simulation arm is at the initial position, the simulation arm does not act, and if the simulation arm is not at the initial position, the control chip controls the motor to rotate reversely through the double-path solid-state relay, so that the simulation arm is stopped after returning to the initial position. When the fact that the card swiping and the fee deduction are successful is detected, whether a dinner plate exists or not is detected through the photoelectric sensor, the dinner plate does not exist, the operation of waiting is carried out all the time, and if the dinner plate exists, a dish ordering action is started.

Furthermore, the upper cover plate 1-3 is in shaft connection with the lower end of a rotating shaft, the upper part of the rotating shaft is connected with a simulation head, a steering engine is arranged in the simulation head, and the output shaft of the steering engine is in shaft connection with the upper end of the rotating shaft through another coupling; and the front side of emulation head is equipped with display panel, and the control end of steering wheel, the input of display panel connect control chip's corresponding signal end respectively, and emulation head is not shown in this case. In the example, the steering engine adopts a digital steering engine for a HITEC HSR-5990TG robot. The display panel can be used for displaying the balance in the IC card.

Claims

1. The utility model provides a beat dish robot which characterized in that:

comprises a fixed frame, a driving device (2), a linkage device, a simulation arm (4), a vegetable shovel (5) and a vegetable containing basin (6);

the fixing frame comprises a bottom frame (1-1) and a side plate (1-2) fixed above the bottom frame;

the linkage device comprises four cams (3-71-3-74), a cam shaft (3-1), a lower arm fixing shaft (3-2), three lower driving arms (3-3), three upper driving arms (3-4), driving arm connecting rods (3-5) and a sleeve shaft (3-6);

the sleeve shaft (3-6) comprises an outer end pulley shaft (3-61), an upper arm linkage shaft sleeve (3-62) and an inner end pulley shaft sleeve (3-63); the outer end belt pulley shaft (3-61) comprises an outer end belt pulley (3-611) and a rotating shaft (3-612) vertically connected with the circle center of one side of the outer end belt pulley; the upper arm linkage shaft sleeve (3-62) comprises a fixed plate (3-621) and a middle shaft sleeve (3-622) vertically connected with one side of the fixed plate; the inner end pulley shaft sleeve (3-63) comprises an inner end pulley (3-631) and an outer layer shaft sleeve (3-632) which is vertically connected with a shaft hole at one side of the inner end pulley; the rotating shaft (3-612) of the outer end belt pulley shaft is embedded in a middle shaft sleeve (3-622) of the upper arm linkage shaft sleeve, the middle shaft sleeve (3-622) is embedded in an outer layer shaft sleeve (3-632) of the inner end belt pulley shaft sleeve, and intervals are respectively arranged among the outer end belt pulley (3-611), the fixing plate (3-621) and the inner end belt pulley (3-631); the end of a rotating shaft (3-612) of the outer end belt pulley shaft protrudes out of the end of the middle shaft sleeve (3-622), and the end of the middle shaft sleeve (3-622) protrudes out of the end of the outer layer shaft sleeve (3-632);

the shaft part of the sleeve shaft (3-6) horizontally penetrates through the upper part of the lateral plate (1-2) at the outer side and the inner side of the fixing frame from the outer side in sequence, the outer end belt pulley (3-611), the fixing plate (3-621) and the inner end belt pulley (3-631) of the sleeve shaft (3-6) are positioned outside the lateral plate at the outer side, and the part of the end part of the rotating shaft (3-612), the end part of the middle shaft sleeve (3-622) and the end part of the outer layer shaft sleeve (3-632) are positioned between the inner lateral plate and the outer lateral plate;

two ends of the camshaft (3-1) are fixed on an inner side plate (1-2) and an outer side plate (1-2) below the sleeve joint shaft (3-6), and the end head of the outer side of the camshaft (3-1) is positioned outside the outer side plate (1-2); the four cams (3-71-3-74) are fixedly sleeved on the cam shaft (3-1) at intervals, symmetrical curve grooves (3-8) are respectively formed in the opposite surfaces of any two adjacent cams, a pin column (3-31) is arranged in the middle of the lower driving arm (3-3), and two ends of the pin column (3-31) are respectively embedded into the curve grooves (3-8) of the two corresponding cams positioned on two sides of the pin column;

two ends of the lower arm fixing shaft (3-2) are fixed on an inner side plate (1-2) and an outer side plate (1-2) which are positioned at the rear side below the cam shaft (3-1); the rear end of the lower driving arm (3-3) is connected with the lower arm fixing shaft (3-2) in a shaft way, and the front end of the lower driving arm (3-3) is connected with one end of a driving arm connecting rod (3-5) in a shaft way;

the rear ends of the three upper driving arms (3-4) are respectively fixedly sleeved on the end part of a rotating shaft (3-612) of the outer end belt pulley shaft, the end part of the middle shaft sleeve (3-622) and the end part of the outer layer shaft sleeve (3-632); the front ends of the upper driving arms (3-4) are respectively connected to the other ends of the corresponding driving arm connecting rods (3-5) in a shaft manner;

the driving device (2) comprises a motor (2-1), a driving gear (2-2), a driven gear (2-3) and a toothed ring belt (2-4); the end face of the motor (2-1) is fixed on any side plate (1-2), an output shaft of the motor (2-1) penetrates through the side plate (1-2) on the outer side and is in shaft joint with the driving gear (2-2) through a shaft coupling, the driven gear (2-3) is in shaft joint with the end head on the outer side of the cam shaft (3-1), and the driving gear (2-2) and the driven gear (2-3) are linked through a toothed ring belt (2-4);

the simulation arm (4) comprises an upper arm rod (4-1), a lower arm rod (4-2), two side bevel gears (4-3), a bevel gear (4-4), a U-shaped shaft lug piece (4-5) and a connecting shaft (4-6); the inner side surface of the upper end of the upper arm rod (4-1) is provided with an upper U-shaped groove (4-11), the front side surface of the lower end of the upper arm rod (4-1) is provided with a lower U-shaped groove (4-12), and the fixing plate (3-621) is fixed in the upper U-shaped groove (4-11) in a nested manner; two side lugs at the opening of the U-shaped lug piece (4-5) are respectively connected with two ends of a connecting shaft (4-6) in a shaft way, two lower belt pulleys (4-7) are respectively sleeved on the connecting shaft (4-6) at the inner sides of the two side lugs, the connecting shaft (4-6) between the two lower belt pulleys (4-7) respectively penetrates through the lower end of the upper arm rod (4-1), the disc surfaces of the two lower belt pulleys (4-7) are fixed with the lugs of the U-shaped lug piece (4-5), and two side bevel gears (4-3) are respectively sleeved on the connecting shaft (4-6) in the lower U-shaped groove (4-12) of the upper arm rod (4-1); wherein, the lower belt pulley (4-7) positioned at the outer side is fixedly connected with the connecting shaft (4-6), and the lower belt pulley (4-7) positioned at the inner side is smoothly sleeved with the connecting shaft (4-6); the side bevel gear (4-3) positioned on the outer side is in smooth sleeve joint with the connecting shaft (4-6), and the side bevel gear (4-3) positioned on the inner side is fixedly connected with the connecting shaft (4-6); the two side bevel gears (4-3) are meshed with the same bevel gear (4-4), and the connecting end surface of the bevel gear (4-4) facing to the front side is fixedly connected with the upper end of the lower arm rod (4-2); the lower end of the lower arm rod (4-2) penetrates through the bottom plate of the U-shaped shaft ear piece (4-5);

the outer end belt pulley (3-611) and the inner end belt pulley (3-631) are respectively and correspondingly connected with two lower belt pulleys (4-7) by adopting belts (4-8);

the lower end of a lower arm rod (4-2) of the simulation arm (4) is fixedly connected with the upper end of a handle of the vegetable shovel (5); the shovel part of the vegetable shovel (5) is positioned in Cheng Caipen (6), and the front side surface of the vegetable containing basin (6) is provided with a dinner plate shelf (6-2) for placing dinner plates.

2. The dish serving robot of claim 1, wherein: fixed shaft sleeves (3-9) are respectively arranged between the end parts of the rotating shafts (3-612) of the outer end pulley shafts, the outer layer shaft sleeves (3-632) of the inner end pulley shaft sleeves and the inner side plate (1-2) and the outer side plate (2) at the penetrating positions.

3. The cooking robot of claim 1, wherein: the central axes of the sleeve shafts (3-6) and the camshaft (3-1) are parallel on the same vertical plane, and the lower arm fixing shaft (3-2) is positioned behind the vertical plane.

4. The dish serving robot of claim 1, wherein: the lower arm rod (4-2) is cylindrical, and a ball bearing (4-9) is arranged between the bottom plate of the U-shaped shaft lug piece (4-5) and the lower arm rod (4-2).

5. The cooking robot of claim 1, wherein: the top and the bottom of the side plate (1-2) are respectively provided with an upper cover plate (1-3) and a lower cover plate (1-4), and the front and the back of the side plate (1-2) are respectively provided with a panel (1-5).

6. The cooking robot of claim 1, wherein: the dish containing basin (6) is placed in the bottom layer framework (6-1), and the dinner plate shelf (6-2) is arranged on the bottom layer framework (6-1).

7. The dish serving robot as claimed in any one of claims 1 to 6, wherein:

the linkage device, the simulation arm (4), the vegetable shovel (5) and the vegetable containing basin (6) are respectively arranged in a bilateral symmetry manner;

two driving devices (2) are arranged;

the two linkage devices which are symmetrically arranged at the left and the right share one inner side plate (1-2);

the two outer side plates (1-2) are wider than the shared inner side plate (1-2), so that a groove structure is formed on the vertical projection surface, and the groove structure is used for accommodating a motor (2-1) in the driving device;

two motors (2-1) in the driving device are arranged up and down, and the output ends of the two motors (2-1) face the left side and the right side respectively.

8. The cooking robot of claim 7, wherein: the signal control end of the motor is connected with the signal output end of the control chip, the corresponding pins of the control chip are respectively connected with the power supply conversion circuit, the solid-state relay and the IC card reader-writer, and the IC card reader-writer and the recharging IC card are in communication with each other to start the power supply to drive the motor to rotate and deduct money to rewrite the money in the recharging IC card.

9. A dish serving robot as recited in claim 8, wherein: the simulation arm position detection device also comprises a position sensor for detecting the position of the simulation arm and a photoelectric sensor for detecting the dinner plate; the position sensor is arranged in an upper arm rod (4-1) of the simulation arm (4), and the photoelectric sensor is arranged on the dinner plate shelf (6-2); and the signal output end of the position sensor and the signal output end of the photoelectric sensor are respectively and electrically connected with the corresponding signal input end of the control chip.

10. A dish serving robot as recited in claim 8, wherein: the upper cover plate (1-3) is in shaft connection with the lower end of the rotating shaft, the upper part of the rotating shaft is connected with a simulation head, a steering engine is arranged in the simulation head, and the output shaft of the steering engine is in shaft connection with the upper end of the rotating shaft through another coupling; and a display panel is arranged on the front side of the simulation head, and a signal control end of the steering engine and an input end of the display panel are respectively connected with corresponding signal ends of the control chip.