CN107758255A - It is a kind of suspended automatic to send dish to serve integrated device and its method - Google Patents
It is a kind of suspended automatic to send dish to serve integrated device and its method Download PDFInfo
- Publication number
- CN107758255A CN107758255A CN201711266916.1A CN201711266916A CN107758255A CN 107758255 A CN107758255 A CN 107758255A CN 201711266916 A CN201711266916 A CN 201711266916A CN 107758255 A CN107758255 A CN 107758255A
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- Prior art keywords
- control terminal
- track
- steering
- dolly
- shaped
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- 238000000034 method Methods 0.000 title claims abstract description 5
- 230000007246 mechanism Effects 0.000 claims abstract description 19
- 239000000725 suspension Substances 0.000 claims abstract description 14
- 230000032258 transport Effects 0.000 claims description 39
- 238000005452 bending Methods 0.000 claims description 23
- 238000001179 sorption measurement Methods 0.000 claims description 16
- 230000003028 elevating effect Effects 0.000 claims description 11
- 235000013305 food Nutrition 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims description 5
- 230000000630 rising effect Effects 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 4
- 239000004033 plastic Substances 0.000 claims description 4
- 229920003023 plastic Polymers 0.000 claims description 4
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- 239000000956 alloy Substances 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 238000010521 absorption reaction Methods 0.000 claims description 2
- 230000007423 decrease Effects 0.000 claims description 2
- 230000005484 gravity Effects 0.000 claims description 2
- 230000008447 perception Effects 0.000 claims description 2
- 238000012423 maintenance Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
- 230000035622 drinking Effects 0.000 description 3
- 235000013410 fast food Nutrition 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000001965 increasing effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 235000012054 meals Nutrition 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
- 235000013311 vegetables Nutrition 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Table Equipment (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of suspension type to send dish to serve integrated device and its method,When in use according to using area demand,L-shaped straight guide is connected using track fastening,Dolly will be transported to be put into mounted track,Dolly is transported to control by control terminal,T track is fixed on the wall of upper end and installs infrared ray sensor,The baffle plate that the infrared ray that infrared ray sensor is launched when transporting dolly by above T track can be transported dolly top shelters from,Track of the present invention can splice according to the actual requirements,It is practical,It is simpler with tradition mechanism structure compared of serving,Mechanism is reasonable in design,Part uses standard component more,It is easy to maintenance,Cost is low,Dolly is transported in system operation only needs a moment to stop and with multiple dollies while can run,Efficiency of serving can be greatly improved,The mechanical arm of transport can be separated and combined with transporting dolly and lowering or hoisting gear according to demand,The multi-functional utilization of part can be achieved.
Description
Technical field
It is specially a kind of suspended automatic to send dish to serve integrated device the present invention relates to intelligent restaurant service field.
Background technology
With the quickening of people's rhythm of life, easily and efficiently fast food is increasingly favored by working clan and young man；
But catering trade labor turnover is big, cost of labor is high so that many hotel owners are stranded, particularly number of meals is more, works
The fast service restaurant industry that time is long, labor intensity is big, this problem is more prominent, greatly affected the normal operation in dining room.
In order to solve the above problems, occur many automatic serving devices on the market, to replace part artificial, but it is suitable
A small number of catering industries are only limitted to scope, adaptability is weak, and these automatic serving device common configurations are complicated, with high costs,
And trouble is repaired, efficiency is low, and the use cost using eating and drinking establishment has been significantly greatly increased.
The content of the invention
In view of existing catering industry particularly fast food problems faced, and the automatic serving device structure of tradition are answered
It is miscellaneous, and trouble is repaired, efficiency is low, and use cost is high, and the new shape of this practicality is the drawbacks of overcoming above-mentioned patent, devises one
Module of serving is allocated automatically with aerial suspension by kind fast food restaurant, full-automatic transmission of the vegetable from kitchen to dining table is realized, first, mechanism
Reasonable in design, part uses standard component more, can reduce equipment cost, second, dolly is transported in system operation need to only stop for a moment
It can be run only and simultaneously with multiple dollies, efficiency of serving can be greatly improved, third, the mechanical arm transported can be according to demand
Separate and combine with transporting dolly and lowering or hoisting gear, the multi-functional utilization of part can be achieved, save cost, four, mechanical arm
The function of transporting dish can be not only realized, the service of serving a dish can also be provided for customer, not only further saves the cost of eating and drinking establishment,
And manually serve a dish relatively, mechanical arm is noveler, beneficial to customer is attracted, increases potential customer for eating and drinking establishment.
In order to achieve the above object, the new shape of this practicality is adopted the technical scheme that：
A kind of suspension type send dish to serve integrated device, it is characterised in that：Mainly include L-shaped straight rail, transport dolly, manipulator, T
Shape guideway up-and-down mechanism and tray, it is characterised in that：It is equal that the L-shaped straight guide 1 includes the section that inside and outside twice be arranged in parallel
For the hollow tubular structure of L-shaped, the L-shaped straight rail bottom both ends and dorsal part both ends, which are opened, to be offered for installing splicing
Screwed hole, connected by track fastening between adjacent two L-shaped straight guide, the track fastening section is cut with L-shaped straight rail
Face is identical, and track fastening is central raised, and both ends offer the screwed hole for being connected with L-shaped straight rail, parallel twice L
Interior one of L-shaped straight rail in outside passes through track fastening with the second L-shaped bending track road and the first L-shaped bending track road respectively in shape straight rail
Connection, and the curved rail section of L-shaped is identical with the section that L-shaped straight rail connects, the curved rail end of L-shaped offers the spiral shell for connection
Pit, the first L-shaped bending track road in outside and the second L-shaped bending track road of inner side be arranged in parallel, the parallel L-shaped straight rail of interior outside twice
Road is fixed at the top of wall by portal, and the portal offers two screwed holes by upside and is fixed at the top of wall,
Screwed hole is offered by portal both ends to be fixedly connected with interior outside twice L-shaped straight rail, inside and outside after the fixation of portal 5
The track for transporting dolly traveling is formed between side twice L-shaped straight rail 1；The transport dolly includes vehicle frame, driven wheel, active
Wheel, motor, motor fixing plate, sucker fixed plate, the first magnechuck and baffle plate are transported, the vehicle frame mouth is back-shaped, and left
Right two lateral extents are slightly less than the orbital distance that the two L-shaped straight rails parallel with after portal fixation are formed, and vehicle frame front side is with after
The half of distance distance between the left and right sides between side, setting at left and right sides of the vehicle frame has adhesion wheel and from motor-car
Wheel, and two adhesion wheels are separately positioned on front side, two driven wheels in vehicle frame left and right ends and are separately positioned on vehicle frame or so
Rear side in both ends, vehicle frame front side left and right ends are welded with motor fixing plate, transport motor are equipped with motor fixing plate,
The transport motor is connected with control terminal electric signal, and rotating shaft of the adhesion wheel with transporting motor power output is connected by flat rubber belting
Connect, be welded with sucker fixed mount in the middle part of the vehicle frame, the sucker fixed mount is rectangular plate-like, and upper side end is provided with baffle plate, institute
State the first magnechuck to be connected with sucker fixed plate by bolt, the first magnechuck is connected with control terminal electric signal；
Manipulator includes adsorption piece, spill seat, steering-engine, rotate steering wheel and mechanical finger, and the adsorption piece upper end is cylinder
The sucker of shape first, adsorption piece side are provided with the sucker of rectangle second, are fixedly connected with the first spill seat below the adsorption piece, and described the
One spill seat is articulated and connected with the first steering-engine, and first steering-engine is connected with control terminal, on the downside of the first steering-engine
The second spill seat is fixedly connected with, the second spill seat is identical with the first spill seat, when the second spill seat and first turn to
After steering wheel is fixedly connected, the first spill seat side is mutually perpendicular to the second spill seat side, the second spill seat and second turn
It is articulated and connected to steering wheel, second steering-engine is fixedly connected with the 3rd steering-engine by the 3rd spill seat, and second turns to
Steering wheel is connected with control terminal electric signal respectively with the 3rd steering-engine, and the 3rd steering-engine and the 3rd spill seat, which are fixed, to be connected
Connect, the 3rd spill seat is identical with the first spill seat, and after the 3rd spill seat is fixedly connected with the second steering-engine, second is recessed
Shape seat side is mutually perpendicular to the 3rd spill seat side, and the 3rd spill seat is fixedly connected with rotate steering wheel, the rotate steering wheel with
Control terminal electric signal is connected, and rotate steering wheel rotation portion is fixedly connected with gripper fixed plate, the gripper fixed plate and rotation
Machine of coming about connection side is narrower, and other side is wider, and gripper fixes back and is provided with opening and closing steering wheel, the opening and closing steering wheel and control
End connection processed, the position of opening and closing servos control opening and closing are connected by the through hole opened up in gripper fixed plate with motion bar one end,
The motion bar other end is hinged with mechanical finger, and mechanical finger is threadedly coupled away from motion bar one end with backplate dorsal part middle part,
The backplate is cuboid, is hinged in the middle part of the motion bar with fix bar, fix bar one end and gripper away from motion bar
Fixed plate is hinged；
The T-rail section is T-shaped cavity, and top is provided with lifting motor, and the lifting motor is connected with control terminal electric signal,
Hawser is wound with lifting motor rotating shaft, it is T that elevating mechanism moves one end that one end is engaged with T-rail in T-rail
Shape structure, retainer ring is provided with T-shaped structure, retainer ring is connected with lifting motor by hawser and realizes that elevating mechanism is led in T-shaped
Moved up and down in rail, elevating mechanism is the second magnetic chuck relative to the other end of T-rail connecting portion.
As preferable：The tray is uncovered casing, using plastic material.
As preferable：The L-shaped straight rail, the first L-type bending track road, the second L-type bending track road are aluminum alloy material.
As preferable：First magnechuck uses DSD6020- sucker electromagnet, and is provided with pressure in adsorption plane
Sensor.
As preferable：Second magnechuck uses DSD3532- sucker electromagnet.
As preferable：First steering-engine, the second steering-engine, the 3rd steering-engine use FS90R steering wheels.
As preferable：The rotate steering wheel selects SR430P steering wheels.
As preferable：The opening and closing steering wheel contains S90 steering wheels from brightness.
As preferable：The backplate positive side retaining part is provided with one layer of 3 millimeters of rubber layer.
As preferable：The second sucker suction face flat smooth, provided with pressure sensor
Compared with prior art, the beneficial effects of the invention are as follows：
1. using modularized design compared with tradition serves mechanism, track can splice according to the actual requirements, and practicality is stronger, and
Being served with tradition, mechanism structure compared is simpler, and mechanism is reasonable in design, part uses standard component more, and easy to maintenance, cost is low；
Only need a moment to stop and with multiple dollies while can run 2. transporting dolly in system operation, effect of serving can be greatly improved
Rate；
3. the mechanical arm transported can be separated and combined with transporting dolly and lowering or hoisting gear according to demand, the more of part can be achieved
Function utilizes.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is present invention assembling guide rail structure schematic diagram；
Fig. 3 transports vehicle structure schematic diagram for the present invention；
Fig. 4 is T-rail of the present invention and lifting structure schematic diagram；
Fig. 5 is robot manipulator structure schematic diagram of the present invention；
Fig. 6 is tray structural representation of the present invention；
Label in figure：1st, L-shaped straight rail, the 2, first L-shaped bending track road, the 3, second L-shaped bending track road, 4, track fastening, 5, door shape
Frame, 6, transport dolly, 61, vehicle frame, 62, driven wheel, 63, adhesion wheel, 64, transport motor, 65, motor fixing plate, 66, turn
Axle, 67, sucker fixed plate, the 68, first magnechuck, 69, baffle plate, 7, adsorption piece, the 71, first sucker, the 72, second sucker 8, rise
Part drops, and the 81, second magnetic chuck, the 91, first spill seat, the 92, second spill seat, the 93, the 3rd spill seat, 101, first turn to rudder
Machine, 102 second steering-engines, 103 the 3rd steering-engines, 11, rotate steering wheel, 12, gripper fixed plate, 13, motion bar, 14,
Fix bar, 15, opening and closing steering wheel, 16, backplate, 17, mechanical finger, 18, T-rail, 19, lifting motor, 20, tray, 21, control
End processed, 22, dining table.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art obtained under the premise of creative work is not made it is all its
His embodiment, belongs to the scope of protection of the invention.
Refer to Fig. 1-6, a kind of suspension type send dish to serve integrated device in the embodiment of the present invention, it is characterised in that：Mainly
Including L-shaped straight rail 1, transport dolly 6, manipulator, the elevating mechanism 8 of T-rail 18 and tray 20, it is characterised in that：The L
Shape straight guide 1 includes the hollow tubular structure that the section that inside and outside twice be arranged in parallel is L-shaped, the bottom two of L-shaped straight rail 1
The screwed hole offered for installing splicing is opened at end and dorsal part both ends, is connected between adjacent two L-shaped straight guide 1 by track
Part 4 connects, and the section of track fastening 4 is identical with the section of L-shaped straight rail 1, and track fastening 4 is central raised, and both ends are opened
Provided with the screwed hole for being connected with L-shaped straight rail 1, interior one of L-shaped straight rail point in outside in parallel twice L-shaped straight rail 1
It is not connected with the second L-shaped bending track road 3 and the first L-shaped bending track road 2 by track fastening 4, and the curved rail section of L-shaped and L-shaped are straight
The section of track connection is identical, and the curved rail end of L-shaped offers the screwed hole for connection, the first L-shaped bending track road 2 in outside with
Second L-shaped bending track road 3 of inner side be arranged in parallel, and the parallel L-shaped straight rail 1 of interior outside twice is fixed on wall by portal 5
Top, the portal 5 offer two screwed holes by upside and are fixed at the top of wall, offered by the both ends of portal 5
Interior outside twice L-shaped straight rail 1 is fixedly connected by screwed hole, with portal 5 fix after interior outside twice L-shaped straight rail 1 it
Between formed transport dolly 6 travel track；The transport dolly 6 includes vehicle frame 61, driven wheel 62, adhesion wheel 63, transport
Motor 64, motor fixing plate 65, sucker fixed plate 67, the first magnechuck 68 and baffle plate 69,61 mouthfuls of the vehicle frame is back-shaped, and
Left and right sides distance is slightly less than the orbital distance that the two L-shaped straight rails 1 parallel with after the fixation of portal 5 are formed, the front side of vehicle frame 6
The half of distance distance between the left and right sides between rear side, the left and right sides of vehicle frame 61, which is set, the He of adhesion wheel 63
Driven wheel 62, and two adhesion wheels 63 are separately positioned on front side, two driven wheels 62 in vehicle frame left and right ends and set respectively
The rear side in vehicle frame left and right ends is put, left and right ends are welded with motor fixing plate 65, motor fixing plate 65 on front side of the vehicle frame
On be equipped with and transport motor 64, the transport motor 64 be connected with the electric signal of control terminal 21, and the adhesion wheel 63 and transport are electric
The rotating shaft 66 of the power output of machine 64 is connected by flat rubber belting, and the middle part of vehicle frame 61 is welded with sucker fixed mount 67, and the sucker is consolidated
It is rectangular plate-like to determine frame 67, and upper side end is provided with baffle plate 69, and first magnechuck 68 passes through bolt and sucker fixed plate 67
Connection, the first magnechuck 68 are connected with the electric signal of control terminal 21；
Manipulator includes adsorption piece 7, spill seat, steering-engine, rotate steering wheel 11 and mechanical finger 17, the upper end of adsorption piece 7
For cylindrical first sucker 71, the side of adsorption piece 7 is provided with the second sucker of rectangle 72, and the lower section of adsorption piece 7 is fixedly connected with first
Spill seat 9, the first spill seat 91 are articulated and connected with the first steering-engine 10, first steering-engine 101 and control terminal
21 connections, the downside of the first steering-engine 101 are fixedly connected with the second spill seat 92, the second spill seat 92 and the first spill seat 91
It is identical, after the second spill seat 92 is fixedly connected with the first steering-engine 101, the side of the first spill seat 91 and the second spill
Seat side 92 is mutually perpendicular to, and the second spill seat 92 is articulated and connected with the second steering-engine 102, second steering-engine
102 are fixedly connected with the 3rd steering-engine 103 by the 3rd spill seat 93, the second steering-engine 102 and the 3rd steering-engine 103
It is connected respectively with the electric signal of control terminal 21, the 3rd steering-engine 103 is fixedly connected with the 3rd spill seat 93, and the described 3rd is recessed
Shape seat 93 is identical with the first spill seat 91, after the 3rd spill seat 93 is fixedly connected with the second steering-engine 102, the second spill seat
92 sides are mutually perpendicular to the 3rd spill seat side 93, and the 3rd spill seat 93 is fixedly connected with rotate steering wheel 11, the rotation rudder
Machine 11 is connected with the electric signal of control terminal 21, and the rotation portion of rotate steering wheel 11 is fixedly connected with gripper fixed plate 12, the machinery
Pawl fixed plate 12 is connected that side is narrower, and other side is wider with rotate steering wheel, and the back side of gripper fixed plate 12 is provided with opening and closing steering wheel
15, the opening and closing steering wheel 15 is connected with control terminal 21, and opening and closing steering wheel 15 controls the position of opening and closing to pass through in gripper fixed plate 12
The through hole opened up is connected with the one end of motion bar 13, and the other end of motion bar 13 is be hinged with mechanical finger 17, and mechanical finger 17 is remote
From the one end of motion bar 13 with being threadedly coupled in the middle part of the dorsal part of backplate 16, the backplate 16 is cuboid, the middle part of motion bar 13
Be hinged with fix bar 14, the one end of fix bar 14 away from motion bar 13 is be hinged with gripper fixed plate 12；
The section of T-rail 18 is T-shaped cavity, and top is provided with lifting motor 19, the lifting motor 19 and the electricity of control terminal 21
Signal connects, and is wound with hawser in the rotating shaft of lifting motor 19, elevating mechanism 8 moves one end and the phase of T-rail 18 in T-rail
One end of cooperation is T-shaped structure, and retainer ring 82 is provided with T-shaped structure, and retainer ring 82 is connected by hawser with lifting motor 19
Realize that elevating mechanism moves up and down in T-rail 18, elevating mechanism 8 is relative to the other end with the connecting portion of T-rail 18
For the second magnetic chuck 81.
Operation principle：When in use according to using area demand, L-shaped straight guide 1 is connected using track fastening 4 first
Get up, it is necessary to which the first L-type bending track road 2 is connected by corner by track fastening 4 with outside L-shaped straight rail 1, by second
L-type bending track road 3 is connected by track fastening 4 with inner side L-shaped straight rail 1, will be transported dolly 6 and is put into mounted track,
Transport dolly 6 to be connected with control terminal 21, track is fixed on by wall top by door type frame 5 afterwards, according to the position of dining table 22, in dining table
T track 18 is fixed on wall side by 22 close to the position of wall, and upper end liter at the top of the upper end of T-rail 18 is first determined before fixed
Motor 19 is dropped higher than dolly 6 is transported, is fixed in T track 18 on the wall of upper end and infrared ray sensor is installed, and transport is got off 6 logical
The baffle plate 69 that the infrared ray that infrared ray sensor is launched when crossing 18 top of T track can be transported the top of dolly 6 shelters from, red
Outside line sensor is connected with the signal of control terminal 21, and the upper end lifting motor 19 of T track 18 is connected with control terminal 21, with control terminal 21
Signal is connected, and after manipulator is connected, control terminal 21 is electrically connected with the power supply, and is opened master switch and is debugged, first to rising
Drop motor 19 is debugged, and the lifting distance of lifting motor 19 and speed is controlled by adjusting control terminal 21, according to using desk
Height of table top adjust the rising and falling time of lifting motor 19, and then control the adjustable height of lifters 8, it is ensured that on dish can put down
Surely be placed on dining table 22, afterwards pass through control terminal 21 set adjustment the clamp pressure of mechanical finger 17, it is ensured that clamping dish not
Drop, you can start working；
During work, opened by control terminal 21 and transport dolly 6, transport dolly is being transported track even running, when customer's point
After dish is carried out, tray 20 is put into, control terminal 21, which is opened, transports dolly 6, transports dolly and starts to transport dish, transports dolly 6 and reach
During customer 22 top of dining table, transport the baffle plate 69 on dolly 6 and shelter from infrared ray sensor, infrared ray sensor perception arrives signal
Afterwards, signal being reached into control terminal 21, control terminal 21 is opened the second magnechuck 81 and fixed by electromagnetic attraction with the second sucker 72,
Second sucker suction surface pressure sensor sensing to pressure signal is sent into control terminal 21 after pressure change, close by control terminal 21
First magnetic chuck 68, open lifting motor 19, lifting motor 19 by the hawser being wrapped in rotating shaft to decentralization, in Action of Gravity Field
Under due to hawser unclamp, lifters 8 decline after untill it can put down food safely, lifting motor 19 is closed, Zhi Hou
One steering-engine 101, the second steering-engine 102, the 3rd steering-engine 103 and rotate steering wheel 11 are opened under the control of control terminal 21
Open, adjustment is placed food position and angle to correct position, opening and closing steering wheel 15 and opened, motion bar 13 under the effect of opening and closing motor around
Fix bar 14 rotates driving mechanical finger 17 and unclamped, and puts down food, and control terminal 21 controls lifting motor 19 to open and rotates backward receipts
Hawser is played, lifters 8 rise under hawser pull effect, and when rising to top, baffle plate 69 shelters from infrared ray sensor again,
Signal is reached control terminal 21 by infrared ray sensor, and control terminal 21 opens the first magnechuck 68, is combined with transporting dolly 6, the
One magnechuck 68 absorption surface pressure passes sensor sensing to pressure change, signal is passed into control terminal 21, control terminal 21 is controlled
The second magnetic chuck 81 in lifters 8 processed is closed, and the second sucker 72 separates with lifters 8, and control terminal 21, which is opened, afterwards transports
Dolly 6 is opened to move ahead along track, is returned after circling.
The tray 20 is uncovered casing, is prevented during transport, and food is trickled down, using plastic material plastics
Durable and material is light, reducing mechanism added burden.
The L-shaped straight rail 1, the first L-type bending track road 2, the second L-type bending track road 3 are aluminum alloy material, are easy to process,
Cost is relatively low, structure durable,.
First magnechuck 68 uses DSD6020- sucker electromagnet, can bear 30 kilograms of weight, and adsorbing
Face is provided with pressure sensor, can produce enough active forces, and pressure sensor is easy to control terminal 21 to control the first magnechuck 68
Open and close.
Second magnechuck 81 uses DSD3532- sucker electromagnet, can bear 18 kilograms of active forces.
The positive side retaining part of backplate 16 is provided with one layer of 3 millimeters of rubber layer, increasing friction force.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms, therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit requires rather than described above limits, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention, and any reference in claim should not be considered as to the involved claim of limitation.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each embodiment is only wrapped
Containing an independent technical scheme, this narrating mode of specification is only that those skilled in the art should for clarity
Using specification as an entirety, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
It is appreciated that other embodiment.
Claims (10)
1. a kind of suspension type send dish to serve integrated device and its method, first that L-shaped is straight when in use according to using area demand
Guide rail is connected using track fastening, it is necessary to which the first L-type bending track road is passed through track fastening and outside L by corner
Shape straight rail is connected, and the second L-type bending track road is connected by track fastening with inner side L-shaped straight rail, will be transported dolly and is put into
In mounted track, transport dolly and be connected with control terminal electric signal, track is fixed on by wall top by door type frame afterwards, according to
Dining table position, T track is fixed on wall side close to the position of wall in dining table, T-rail upper end is first determined before fixed
Top upper end lifting motor is fixed on the wall of upper end in T track higher than dolly is transported and installs infrared ray sensor, make under transport
The baffle plate that the infrared ray that infrared ray sensor is launched when car is by above T track can be transported dolly top shelters from, red
Outside line sensor is connected with control end signal, and T track upper end lifting motor is connected with control terminal, is connected with control end signal,
After manipulator is connected, control terminal is electrically connected with the power supply, master switch is opened and is debugged, lifting motor is adjusted first
Examination, lifting motor lifting distance and speed are controlled by adjusting control terminal, according to electric using the adjustment lifting of desk height of table top
Machine rising and falling time, so control lifters adjustable height, it is ensured that on dish can be stably placed on dining table, Zhi Houtong
Cross control terminal and adjustment mechanical finger clamp pressure is set, it is ensured that do not dropped in the dish of clamping, you can start working；
During work, opened by control terminal and transport dolly, transport dolly is being transported track even running, when the dish that customer is ordered is cooked
After good, tray is put into, control terminal, which is opened, transports dolly, transports dolly and starts to transport dish, transports dolly and reach on customer's dining table
Fang Shi, the baffle plate transported on dolly shelter from infrared ray sensor, and after infrared ray sensor perception to signal, signal is reached into control
End processed, control terminal are opened the second magnechuck and fixed by electromagnetic attraction with the second sucker, the second sucker suction surface pressure sensing
Device senses is sent to control terminal after pressure change by pressure signal, and control terminal closes the first magnetic chuck, opens lifting motor,
Lifting motor is by the hawser being wrapped in rotating shaft to decentralization, and under gravity because hawser unclamps, lifters decline until arriving
After can putting down untill food safely, lifting motor is closed, and the first steering-engine, the second steering-engine, the 3rd turn to rudder afterwards
Machine and rotate steering wheel are opened under the control of control terminal, and food position is placed in adjustment and angle to correct position, opening and closing steering wheel is opened
Open, motion bar rotates driving mechanical finger around fix bar under the effect of opening and closing motor and unclamped, and puts down food, control terminal control lifting
Motor, which is opened to rotate backward, packs up hawser, and lifters rise under hawser pull effect, and when rising to top, baffle plate blocks again
Signal is reached control terminal by firmly infrared ray sensor, infrared ray sensor, and control terminal opens the first magnechuck, with transporting dolly
With reference to the first magnechuck absorption surface pressure passes sensor sensing to pressure change, and signal is passed into control terminal, control terminal control
The second magnetic chuck in lifters processed is closed, and the second sucker separates with lifters, and control terminal, which is opened, afterwards transports dolly unlatching
Move ahead along track, returned after circling, it is characterised in that：It is described suspended automatic to send dish integrated device of serving mainly to include L-shaped
Straight rail, transport dolly, manipulator, T-rail elevating mechanism and tray, it is characterised in that：The L-shaped straight guide 1 includes
The section that inside and outside twice be arranged in parallel is the hollow tubular structure of L-shaped, the L-shaped straight rail bottom both ends and dorsal part both ends
The screwed hole offered for installing splicing is opened, is connected between adjacent two L-shaped straight guide by track fastening, the track
Connector section is identical with L-shaped straight rail section, and track fastening is central raised, and both ends offer and are used for and L-shaped straight rail
The screwed hole of connection, in parallel twice L-shaped straight rail interior one of L-shaped straight rail in outside respectively with the second L-shaped bending track road and
One L-shaped bending track road is connected by track fastening, and the curved rail section of L-shaped is identical with the section that L-shaped straight rail connects, and L-shaped is curved
Rail end offers the screwed hole for connection, and the first L-shaped bending track road in outside and the curved parallel track of the second L-shaped of inner side are set
Put, the parallel L-shaped straight rail of interior outside twice is fixed at the top of wall by portal, and the portal is offered by upside
Two screwed holes are fixed at the top of wall, are offered screwed hole by portal both ends and are fixed interior outside twice L-shaped straight rail
The track for transporting dolly traveling is formed between interior outside twice L-shaped straight rail 1 after connection, with the fixation of portal 5；The transport
Dolly include vehicle frame, driven wheel, adhesion wheel, transport motor, motor fixing plate, sucker fixed plate, the first magnechuck and
Baffle plate, the vehicle frame mouth is back-shaped, and left and right sides distance is slightly less than the two L-shaped straight rail shapes parallel with after portal fixation
Into orbital distance, on front side of vehicle frame between rear side distance distance for the left and right sides between half, the vehicle frame left and right sides
Setting has an adhesion wheel and driven wheel, and on front side of two adhesion wheels are separately positioned on vehicle frame the left and right ends in, two from
Motor car wheel is separately positioned on rear side in vehicle frame left and right ends, and left and right ends are welded with motor fixing plate on front side of the vehicle frame, electricity
Transport motor is equipped with machine fixed plate, the transport motor is connected with control terminal electric signal, and the adhesion wheel is with transporting electricity
The rotating shaft of mechanomotive force output is connected by flat rubber belting, is welded with sucker fixed mount in the middle part of the vehicle frame, the sucker fixed mount is square
Shape tabular, upper side end are provided with baffle plate, and first magnechuck is connected by bolt with sucker fixed plate, the first magnechuck
It is connected with control terminal electric signal；
Manipulator includes adsorption piece, spill seat, steering-engine, rotate steering wheel and mechanical finger, and the adsorption piece upper end is cylinder
The sucker of shape first, adsorption piece side are provided with the sucker of rectangle second, are fixedly connected with the first spill seat below the adsorption piece, and described the
One spill seat is articulated and connected with the first steering-engine, and first steering-engine is connected with control terminal, on the downside of the first steering-engine
The second spill seat is fixedly connected with, the second spill seat is identical with the first spill seat, when the second spill seat and first turn to
After steering wheel is fixedly connected, the first spill seat side is mutually perpendicular to the second spill seat side, the second spill seat and second turn
It is articulated and connected to steering wheel, second steering-engine is fixedly connected with the 3rd steering-engine by the 3rd spill seat, and second turns to
Steering wheel is connected with control terminal electric signal respectively with the 3rd steering-engine, and the 3rd steering-engine and the 3rd spill seat, which are fixed, to be connected
Connect, the 3rd spill seat is identical with the first spill seat, and after the 3rd spill seat is fixedly connected with the second steering-engine, second is recessed
Shape seat side is mutually perpendicular to the 3rd spill seat side, and the 3rd spill seat is fixedly connected with rotate steering wheel, the rotate steering wheel with
Control terminal electric signal is connected, and rotate steering wheel rotation portion is fixedly connected with gripper fixed plate, the gripper fixed plate and rotation
Machine of coming about connection side is narrower, and other side is wider, and gripper fixes back and is provided with opening and closing steering wheel, the opening and closing steering wheel and control
End connection processed, the position of opening and closing servos control opening and closing are connected by the through hole opened up in gripper fixed plate with motion bar one end,
The motion bar other end is hinged with mechanical finger, and mechanical finger is threadedly coupled away from motion bar one end with backplate dorsal part middle part,
The backplate is cuboid, is hinged in the middle part of the motion bar with fix bar, fix bar one end and gripper away from motion bar
Fixed plate is hinged；
The T-rail section is T-shaped cavity, and top is provided with lifting motor, and the lifting motor is connected with control terminal electric signal,
Hawser is wound with lifting motor rotating shaft, it is T that elevating mechanism moves one end that one end is engaged with T-rail in T-rail
Shape structure, retainer ring is provided with T-shaped structure, retainer ring is connected with lifting motor by hawser and realizes that elevating mechanism is led in T-shaped
Moved up and down in rail, elevating mechanism is the second magnetic chuck relative to the other end of T-rail connecting portion.
2. a kind of suspension type according to claim 2 send dish to serve integrated device, it is characterised in that：The tray（20）
For uncovered casing, using plastic material.
3. a kind of suspension type according to claim 1 send dish to serve integrated device, it is characterised in that：The L-shaped straight rail,
First L-type bending track road, the second L-type bending track road are aluminum alloy material.
4. a kind of suspension type according to claim 1 send dish to serve integrated device, it is characterised in that：First electromagnetism is inhaled
Disk uses DSD6020- sucker electromagnet, and is provided with pressure sensor in adsorption plane.
5. a kind of suspension type according to claim 1 send dish to serve integrated device, it is characterised in that：Second electromagnetism is inhaled
Disk uses DSD3532- sucker electromagnet.
6. a kind of suspension type according to claim 1 send dish to serve integrated device, it is characterised in that：Described first turns to rudder
Machine, the second steering-engine and the 3rd steering-engine use FS90R steering wheels.
7. a kind of suspension type according to claim 1 send dish to serve integrated device, it is characterised in that：The rotate steering wheel choosing
With SR430P steering wheels.
8. a kind of suspension type according to claim 1 send dish to serve integrated device, it is characterised in that：The opening and closing steering wheel choosing
S90 steering wheels are contained with brightness.
9. a kind of suspension type according to claim 1 send dish to serve integrated device, it is characterised in that：The backplate positive side folder
Hold position and be provided with one layer of 3 millimeters of rubber layer.
10. a kind of suspension type according to claim 1 send dish to serve integrated device block, it is characterised in that：Described second inhales
Disk adsorption plane flat smooth, provided with pressure sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711266916.1A CN107758255B (en) | 2017-12-05 | 2017-12-05 | Suspension type automatic dish feeding and serving integrated device and method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711266916.1A CN107758255B (en) | 2017-12-05 | 2017-12-05 | Suspension type automatic dish feeding and serving integrated device and method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107758255A true CN107758255A (en) | 2018-03-06 |
| CN107758255B CN107758255B (en) | 2020-07-31 |
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ID=61277300
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711266916.1A Active CN107758255B (en) | 2017-12-05 | 2017-12-05 | Suspension type automatic dish feeding and serving integrated device and method thereof |
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| Country | Link |
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| CN (1) | CN107758255B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114104776A (en) * | 2021-12-01 | 2022-03-01 | 福德机器人（成都）有限责任公司 | Anti-shake transport structure, food delivery robot |
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| CN106393130A (en) * | 2016-10-15 | 2017-02-15 | 荆门创佳机械科技有限公司 | Automatic food sending device used in fast food restaurant |
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| CN203728526U (en) * | 2013-12-13 | 2014-07-23 | 李平 | Lifting mechanism special for dish conveying device |
| EP3020513A1 (en) * | 2014-11-17 | 2016-05-18 | Krones Aktiengesellschaft | Method for handling and/or for manipulating articles such as containers or piece goods |
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| CN205633956U (en) * | 2016-03-14 | 2016-10-12 | 湖州中辰建设有限公司 | Small rail car of various steel sheet of transport building |
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| CN114104776A (en) * | 2021-12-01 | 2022-03-01 | 福德机器人（成都）有限责任公司 | Anti-shake transport structure, food delivery robot |
| CN114104776B (en) * | 2021-12-01 | 2024-04-26 | 福德机器人（成都）有限责任公司 | Anti-shake transfer structure and food delivery robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107758255B (en) | 2020-07-31 |
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Effective date of registration: 20200710 Address after: 264200 No. 37, Xinwei Road, Huancui District, Weihai City, Shandong Province, 713 Applicant after: WEIHAI HUIGAO BIOTECHNOLOGY Co.,Ltd. Address before: 450000, No. 3, building 38, No. 28, No. five road, Jinshui District, Henan, Zhengzhou Applicant before: Zhang Jiaxia |