CN107758255B

CN107758255B - Suspension type automatic dish feeding and serving integrated device and method thereof

Info

Publication number: CN107758255B
Application number: CN201711266916.1A
Authority: CN
Inventors: 张家霞
Original assignee: Weihai Huigao Biotechnology Co ltd
Current assignee: WEIHAI HUIGAO BIOTECHNOLOGY Co.,Ltd.
Priority date: 2017-12-05
Filing date: 2017-12-05
Publication date: 2020-07-31
Anticipated expiration: 2037-12-05
Also published as: CN107758255A

Abstract

The invention discloses a suspension type vegetable feeding and serving integrated device and a method thereof, wherein L-shaped straight guide rails are connected by a rail connecting piece according to the requirements of a use place during use, a conveying trolley is placed in an installed rail and is controlled by a control end, an infrared sensor is installed on a wall body at the fixed upper end of a T-shaped rail, and infrared rays emitted by the infrared sensor can be shielded by a baffle at the upper part of the conveying trolley when the conveying trolley passes through the upper part of the T-shaped rail.

Description

Suspension type automatic dish feeding and serving integrated device and method thereof

Technical Field

The invention relates to the field of intelligent restaurant service, in particular to a suspension type automatic dish feeding and serving integrated device.

Background

With the acceleration of the pace of life of people, convenient and fast food is more and more favored by office workers and young people; however, the restaurant industry has the defects that a lot of shops are embarrassed due to high labor mobility and high labor cost, and particularly, the fast food industry with a large number of diners, long working time and high labor intensity has more outstanding difficulty and greatly influences the normal operation of restaurants.

In order to solve the problems, a plurality of automatic serving devices are available on the market to replace partial manpower, but the application range is limited to a few catering industries, the adaptability is weak, the automatic serving devices are generally complex in structure, high in cost, troublesome to maintain and low in efficiency, and the use cost of using restaurants is greatly increased.

Disclosure of Invention

In view of the problems faced by the existing catering industry, particularly fast food industry, as well as the complex structure, troublesome maintenance, low efficiency and high use cost of the traditional automatic dish serving device, the utility model designs an air-suspension automatic dish serving module for a fast food restaurant to realize the full-automatic transfer of dishes from a kitchen to a dining table in order to overcome the defects of the patents, wherein, firstly, the mechanism is reasonably designed, parts adopt standard parts, the equipment cost can be reduced, secondly, the transport trolley only needs to stop for a moment during the system operation and can simultaneously run a plurality of trolleys, the dish serving efficiency can be greatly improved, thirdly, the mechanical arm for transport can be separated from and combined with the transport trolley and a lifting device according to the requirements, the multifunctional utilization of the parts can be realized, the cost is saved, fourthly, the mechanical arm not only can realize the function of transporting dishes, but also can provide dish serving services for customers, not only further save the cost of restaurant, moreover relatively artifical serving, robotic arm is more novel, does benefit to and attracts the customer, increases potential customer for the restaurant.

In order to achieve the purpose, the technical scheme adopted by the utility model is as follows:

a suspension type vegetable feeding and serving integrated device is characterized by mainly comprising a L-shaped straight rail, a conveying trolley, a manipulator, a T-shaped guide rail lifting mechanism and a storage tray, and is characterized in that the L-shaped straight rail 1 comprises an inner and outer hollow tubular structure with L-shaped cross sections, threaded holes for mounting and splicing are formed in both ends of the bottom of the L-shaped straight rail and both ends of the back side of the L-shaped straight rail, two adjacent L-shaped straight rails are connected through a rail connecting piece, the cross sections of the rail connecting piece are the same as those of a L-shaped straight rail, the middle part of the rail connecting piece is raised, threaded holes for connecting with a L-shaped straight rail are formed in both ends of the L-shaped straight rail, one inner and outer L-shaped straight rail in the two parallel L-shaped straight rails is respectively connected with a second L-shaped curved rail and a first L-shaped curved rail through the rail connecting piece, the cross section of the L-shaped curved rail is connected with a rectangular rail with the cross section of the L-shaped straight rail, the right and left and right rail, a driving rail is connected with a driving rail through a driving suction disc, two fixing plate, a driving suction disc is arranged between the two driving suction disc and a driving suction disc, the two driving suction disc fixing plate is arranged between the two driving frame, the two driving frame is connected with two driving frame, the two driving frame;

the manipulator comprises an adsorption piece, a concave seat, a steering engine, a rotary steering engine and a mechanical finger, wherein the upper end of the adsorption piece is provided with a cylindrical first sucker, the side surface of the adsorption piece is provided with a rectangular second sucker, a first concave seat is fixedly connected below the adsorption piece and is hinged with the first steering engine, the first steering engine is connected with a control end, the lower side of the first steering engine is fixedly connected with a second concave seat which is completely the same as the first concave seat, after the second concave seat is fixedly connected with the first steering engine, the side surface of the first concave seat is mutually vertical to the side surface of the second concave seat, the second concave seat is hinged with the second steering engine, the second steering engine is fixedly connected with a third steering engine through a third concave seat, the second steering engine and the third steering engine are respectively in electrical signal connection with the control end, and the third steering engine is fixedly connected with the third concave seat, the third concave seat is the same as the first concave seat, when the third concave seat is fixedly connected with a second steering engine, the side surface of the second concave seat is vertical to the side surface of the third concave seat, the third concave seat is fixedly connected with a rotary steering engine, the rotary steering engine is in electrical signal connection with a control end, the rotating part of the rotary steering engine is fixedly connected with a mechanical claw fixing plate, one side of the mechanical claw fixing plate connected with the rotary steering engine is narrow, the other side of the mechanical claw fixing plate is wide, an opening-closing steering engine is arranged on the back surface of the mechanical claw fixing plate and connected with the control end, the opening-closing part controlled by the opening-closing steering engine is connected with one end of a movable rod through a through hole formed in the mechanical claw fixing plate, the other end of the movable rod is hinged with a mechanical finger, one end of the mechanical finger, which is far away from the movable rod, is in threaded, one end of the fixed rod, which is far away from the movable rod, is hinged with the mechanical claw fixed plate;

the T-shaped guide rail is characterized in that the cross section of the T-shaped guide rail is a T-shaped cavity, the top of the T-shaped guide rail is provided with a lifting motor, the lifting motor is connected with a control end through an electric signal, a cable rope is wound on a rotating shaft of the lifting motor, the lifting piece moves in the T-shaped guide rail and is of a T-shaped structure with one end matched with the T-shaped guide rail, a fixing ring is arranged on the T-shaped structure, the fixing ring is connected with the lifting motor through the cable rope to achieve up-and-down movement of the lifting mechanism in the T-shaped guide rail.

Preferably, the method comprises the following steps: the object containing tray is a cover-free box body and is made of plastic materials.

Preferably, the L-shaped straight track, the first L-shaped bent track and the second L-shaped bent track are all made of aluminum alloy materials.

Preferably, the method comprises the following steps: the first electromagnetic chuck adopts DSD 6020-chuck electromagnet, and a pressure sensor is arranged on the adsorption surface.

Preferably, the method comprises the following steps: the second electromagnetic chuck adopts a DSD 3532-chuck electromagnet.

Preferably, the method comprises the following steps: the first steering engine, the second steering engine and the third steering engine adopt FS90R steering engines.

Preferably, the method comprises the following steps: the rotary steering engine is SR430P steering engine.

Preferably, the method comprises the following steps: the opening and closing steering engine is a glow S90 steering engine.

Preferably, the method comprises the following steps: and a 3 mm rubber layer is arranged at the clamping position on the front side of the guard plate.

Preferably, the method comprises the following steps: the second sucking disc adsorption plane is level and smooth, is equipped with pressure sensor.

Compared with the prior art, the invention has the beneficial effects that:

1. compared with the traditional serving mechanism, the modular design is adopted, the tracks can be spliced according to actual requirements, the practicability is higher, the structure is simpler compared with the traditional serving mechanism, the mechanism design is reasonable, more standard parts are adopted for parts, the maintenance is convenient, and the cost is low;

2. the conveying trolley only needs to be stopped for a moment in the system operation, and a plurality of trolleys can simultaneously operate, so that the dish serving efficiency can be greatly improved;

3. the mechanical arm for conveying can be separated from and combined with the conveying trolley and the lifting device according to requirements, and multifunctional utilization of components can be achieved.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the assembled guide rail structure of the present invention;

FIG. 3 is a schematic view of the structure of the present invention;

FIG. 4 is a schematic view of the T-shaped guide and lift configuration of the present invention;

FIG. 5 is a schematic view of a robot structure according to the present invention;

FIG. 6 is a schematic view of the structure of the tray of the present invention;

in the figure, the reference numbers are 1, L straight rails, 2, a first L curved rail, 3, a second L curved rail, 4, rail connectors, 5, a portal frame, 6, a conveying trolley, 61, a frame, 62, driven wheels, 63, driving wheels, 64, a conveying motor, 65, a motor fixing plate, 66, a rotating shaft, 67, a suction disc fixing plate, 68, a first electromagnetic suction disc, 69, a baffle plate, 7, a suction piece, 71, a first suction disc, 72, a second suction disc 8, a lifting piece, 81, a second magnetic suction disc, 91, a first concave seat, 92, a second concave seat, 93, a third concave seat, 101, a first steering engine, 102 and a second steering engine, 103, a third steering engine, 11, a rotating steering engine, 12, a mechanical claw fixing plate, 13, a movable rod, 14, a fixed rod, 15, a stretching and closing machine, 16, a protective plate, 17, a mechanical finger, 18, a T-shaped guide rail, 19, a lifting motor, 20, a storage tray, 21, a control end, 22 and a dining table.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-6, the suspension type integrated device for sending dishes and serving dishes in the embodiment of the invention is characterized by mainly comprising a L-shaped straight rail 1, a transport trolley 6, a manipulator, a T-shaped guide rail 18 lifting mechanism 8 and a storage tray 20, and is characterized in that the L-shaped straight guide rail 1 comprises an inner and outer hollow tubular structure with L-shaped cross sections, the inner and outer hollow tubular structures are arranged in parallel, the L-shaped straight rail 1 is provided with threaded holes for mounting and splicing at two ends of the bottom and the back side of the straight rail 1, two adjacent L-shaped straight rails 1 are connected through a rail connecting piece 4, the cross section of the rail connecting piece 4 is the same as that of a L-shaped straight rail 1, the middle of the rail connecting piece 4 is protruded, two ends of the rail connecting piece are provided with threaded holes for connecting with a L-shaped straight rail 1, the two ends of the rail connecting piece are provided with threaded holes for connecting with a L-shaped straight rail 1, one L-shaped straight rail at the inner and outer sides of the two parallel straight rails 1 are respectively connected with a second L-shaped curved rail 3-shaped rail 2-shaped curved rail 3 and a first straight rail 2-shaped curved rail 2-shaped rail 2 through a rail connecting piece 4, the rail connecting plate bracket 356, the two driving motor rack is provided with a driving motor rack, the two driving rack, the two wheels 64, the two driving rack of the two wheels 64 and the two wheels are connected with a driving rack, the two wheels 64, the two wheels of the rack, the two wheels are connected with two wheels 64, the rack is connected with two wheels, the rack is connected with two wheels, the rack is connected with a driving rack, the rack;

the manipulator comprises an adsorption piece 7, a concave seat, a steering engine, a rotary steering engine 11 and a mechanical finger 17, wherein the upper end of the adsorption piece 7 is a cylindrical first adsorption disc 71, the side surface of the adsorption piece 7 is provided with a rectangular second adsorption disc 72, the lower part of the adsorption piece 7 is fixedly connected with a first concave seat 9, the first concave seat 91 is hinged with a first steering engine 10, the first steering engine 101 is connected with a control end 21, the lower side of the first steering engine 101 is fixedly connected with a second concave seat 92, the second concave seat 92 is completely identical to the first concave seat 91, after the second concave seat 92 is fixedly connected with the first steering engine 101, the side surface of the first concave seat 91 is mutually vertical to the side surface of the second concave seat 92, the second concave seat 92 is hinged with the second steering engine 102, the second steering engine 102 is fixedly connected with a third steering engine 103 through a third concave seat 93, and the second steering engine 102 and the third steering engine 103 are respectively connected with the control end 21 through electric signals, the third steering engine 103 is fixedly connected with a third concave seat 93, the third concave seat 93 is the same as the first concave seat 91, after the third concave seat 93 is fixedly connected with the second steering engine 102, the side surface of the second concave seat 92 is perpendicular to the side surface 93 of the third concave seat, the third concave seat 93 is fixedly connected with a rotary steering engine 11, the rotary steering engine 11 is in electric signal connection with a control end 21, the rotating part of the rotary steering engine 11 is fixedly connected with a mechanical claw fixing plate 12, the connecting side of the mechanical claw fixing plate 12 and the rotary steering engine is narrow, the other side of the mechanical claw fixing plate 12 is wide, an opening and closing steering engine 15 is arranged on the back surface of the mechanical claw fixing plate 12, the opening and closing steering engine 15 is connected with the control end 21, the opening and closing part of the opening and closing steering engine 15 is connected with one end of a movable rod 13 through a through hole arranged on the mechanical claw fixing plate 12, the other end of the movable rod 13 is hinged with a mechanical finger 17, one, the guard plate 16 is cuboid, the middle part of the movable rod 13 is hinged with a fixed rod 14, and one end of the fixed rod 14 far away from the movable rod 13 is hinged with the mechanical claw fixing plate 12;

t shape guide rail 18 cross-section is T shape cavity, and the top is equipped with elevator motor 19, elevator motor 19 and control end 21 signal of telecommunication connection, the winding has the hawser in the 19 pivots of elevator motor, and elevating system 8 moves one end in T shape guide rail and T shape guide rail 18 matched with one end and is the T shape structure, and the T shape is structural to be provided with solid fixed ring 82, and solid fixed ring 82 is connected through hawser and elevator motor 19 and realizes elevating system up-and-down motion in T shape guide rail 18, and elevating system 8 is second magnetic chuck 81 for the other end of being connected the position with T shape guide rail 18.

According to the working principle, when in use, L-shaped straight rails 1 are connected by a rail connecting piece 4 according to the requirements of a use place, a first L-shaped bent rail 2 is connected with an outer side L-shaped straight rail 1 by the rail connecting piece 4 at a place needing to be bent, a second L-shaped bent rail 3 is connected with the inner side L-shaped straight rail 1 by the rail connecting piece 4, a transport trolley 6 is put into the installed rail, the transport trolley 6 is connected with a control end 21, then the rail is fixed on a wall top by a door-shaped frame 5, according to the position of a dining table 22, a T-shaped guide rail 18 is fixed on the side surface of the wall at the position close to the wall of the dining table 22, before fixing, the upper end lifting motor 19 at the upper end of the T-shaped guide rail 18 is determined to be higher than the transport trolley 6, an infrared sensor is installed on the wall at the upper end of the fixed upper end of the T-shaped guide rail 18, when the transport trolley 6 passes through the upper end of the T-shaped guide rail 18, the upper end of the transport trolley 6, the baffle 69 at the upper end of the transport trolley 6 can be blocked by the transport trolley 6, the baffle is connected with a signal of the control end 21, the lifting motor 19 is stably adjusted, the lifting motor is connected with the lifting motor 21, the lifting motor is connected with the lifting motor for stably adjusting the lifting motor, the lifting motor;

when the food conveying device works, the conveying trolley 6 is started through the control end 21, the conveying trolley runs stably on a conveying track, when a food ordered by a customer is well prepared, the food is placed into the containing disc 20, the conveying trolley 6 is started through the control end 21, the conveying trolley starts to convey the food, when the conveying trolley 6 reaches the position above a dining table 22 of the customer, the baffle 69 on the conveying trolley 6 shields the infrared sensor, the infrared sensor senses a signal and transmits the signal to the control end 21, the control end 21 starts the second electromagnetic chuck 81 and is fixed with the second chuck 72 through electromagnetic suction, the second chuck suction surface pressure sensor senses a pressure change and transmits a pressure signal to the control end 21, the control end 21 closes the first magnetic chuck 68, the lifting motor 19 is started, the lifting motor 19 downwards puts a cable wound on the rotating shaft, the lifting piece 8 descends under the action of gravity until the cable is loosened until the food can be safely put down, the lifting motor 19 is turned off, then the first steering engine 101, the second steering engine 102, the third steering engine 103 and the rotary steering engine 11 are turned on under the control of the control end 21, the position and the angle for placing food are adjusted to be proper positions, the opening and closing steering engine 15 is turned on, the movable rod 13 rotates around the fixed rod 14 under the action of the opening and closing motor to drive the mechanical finger 17 to loosen, the food is put down, the control end 21 controls the lifting motor 19 to turn on and turn back to retract a cable, the lifting piece 8 rises under the action of the tension of the cable, when the lifting piece rises to the top, the baffle 69 shields the infrared sensor again, the infrared sensor transmits signals to the control end 21, the control end 21 opens the first electromagnetic chuck 68 and is combined with the conveying trolley 6, the pressure sensor on the adsorption surface of the first electromagnetic chuck 68 senses pressure change and transmits the signals to the control end 21, the control end 21 controls the second magnetic chuck 81 on the lifting, the second suction cup 72 is separated from the lifter 8, and then the control end 21 opens the trolley 6 to move forward along the track, and returns after one rotation.

The storage tray 20 is a cover-free box body, so that dishes are prevented from being scattered in the conveying process, and the plastic tray is made of durable plastic materials and light in material, so that the additional burden of a mechanism is reduced.

The L straight track 1 that appears, first L curved track 2 that appears, the curved track 3 of second L shape are the aluminum alloy material, and the processing of being convenient for, the cost is lower, and the structure is durable.

The first electromagnetic chuck 68 adopts a DSD 6020-chuck electromagnet, can bear the weight of 30 kilograms, is provided with a pressure sensor on the adsorption surface, can generate enough acting force, and is convenient for the control end 21 to control the opening and closing of the first electromagnetic chuck 68.

The second electromagnetic chuck 81 adopts a DSD 3532-chuck electromagnet and can bear 18 kg of acting force.

A3 mm rubber layer is arranged at the clamping position of the front side of the guard plate 16, so that the friction force is increased.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof, and it is therefore desired that the present embodiments be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, without any reference thereto being construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. A method for using a suspended type integrated device for delivering dishes and serving dishes is characterized by comprising the following steps of firstly connecting L-shaped straight rails by using rail connecting pieces according to requirements of a use place, connecting a first L-shaped bent rail with an outer L-shaped straight rail by using the rail connecting pieces at a place needing to turn, connecting a second L-shaped bent rail with an inner L-shaped straight rail by using the rail connecting pieces, putting a transport trolley into the installed rails, electrically connecting the transport trolley with a control end, fixing the rails on the top of a wall by using a gate-shaped frame, fixing the T-shaped rails on the side surfaces of the wall at positions close to the wall of a dining table according to the position of the dining table, determining that a lifting motor at the top of the T-shaped rails is higher than the transport trolley before fixing, installing an infrared sensor at the upper end of the wall of the T-shaped rails, enabling infrared rays emitted by the infrared sensor to be shielded by a baffle at the upper parts of the transport trolley when the transport trolley passes through the upper parts of the T-shaped rails, connecting the infrared sensor with the lifting motor at the upper ends of the T-shaped rails, stably adjusting the lifting motor after the lifting motor is connected with the lifting motor, stably adjusting the lifting motor, controlling the lifting motor, and the lifting motor, controlling the lifting motor to be used for controlling the lifting time of the lifting motor, and controlling the lifting motor to control the lifting motor to lift the lifting of the lifting motor to lift;

when the lifting trolley works, the conveying trolley is started through a control end, the conveying trolley stably runs on a conveying track, when dishes at a customer point are prepared, a containing disc is placed into the conveying trolley, the control end starts the conveying trolley, the conveying trolley starts to convey the dishes, when the conveying trolley arrives above a dining table of the customer, a baffle plate on the conveying trolley shields an infrared sensor, the infrared sensor senses signals and transmits the signals to the control end, the control end starts a second electromagnetic sucker and is fixed with a second sucker through an electromagnetic suction force, the pressure signal is transmitted to the control end after the pressure change is sensed by a pressure sensor on an adsorption surface of the second sucker, the control end closes a first electromagnetic sucker, a lifting motor starts a lifting motor, a cable wound on a rotating shaft is downwards placed by the lifting motor, the lifting motor is closed under the action of gravity, the lifting part descends until the food can be safely put down, the lifting motor is closed, then a first steering engine, a third steering engine, a rotating steering engine and a rotating steering engine are opened under the control of the lifting motor, the lifting motor is connected with a lifting motor, the lifting motor is connected with a lifting motor, the rack of a lifting motor, the rack is connected with a lifting motor, the rack, the lifting motor, the rack is connected with a rack, the rack is connected with a lifting motor, the rack is connected with a rack, the rack is connected with a lifting motor, the rack is connected with a rack, the lifting motor, the rack is connected with a lifting rack, the rack is connected with a lifting motor, the rack is connected with a lifting rack, the rack is connected with a lifting rack, the rack is connected with a rack, the rack is connected with a rack, the rack is connected with a lifting rack is connected with a rack, the rack is connected with the rack, the rack is connected with a lifting motor, the rack is connected with a rack, the rack is connected with a rack, the rack is connected with a rack, the rack is connected with the rack with a rack with the;

the cross section of the T-shaped guide rail is a T-shaped cavity, the top of the T-shaped guide rail is provided with a lifting motor, the lifting motor is connected with a control end through an electric signal, a cable rope is wound on a rotating shaft of the lifting motor, one end of the lifting piece, which is in matched motion in the T-shaped guide rail, is of a T-shaped structure, a fixing ring is arranged on the T-shaped structure, the fixing ring is connected with the lifting motor through the cable rope to realize the up-and-down motion of the lifting piece in the T-shaped guide rail, and the lifting piece is provided with.

2. The use method of the hanging type integrated device for delivering dishes and serving dishes as claimed in claim 1, wherein: the object containing tray is a cover-free box body and is made of plastic materials.

3. The use method of the hanging type integrated device for delivering dishes and serving dishes as claimed in claim 1, wherein the L-shaped straight track, the first L-shaped curved track and the second L-shaped curved track are all made of aluminum alloy.

4. The use method of the hanging type integrated device for delivering dishes and serving dishes as claimed in claim 1, wherein: the first electromagnetic chuck adopts DSD 6020-chuck electromagnet, and a pressure sensor is arranged on the adsorption surface.

5. The use method of the hanging type integrated device for delivering dishes and serving dishes as claimed in claim 1, wherein: the second electromagnetic chuck adopts a DSD 3532-chuck electromagnet.

6. The use method of the hanging type integrated device for delivering dishes and serving dishes as claimed in claim 1, wherein: and the first steering engine, the second steering engine and the third steering engine are all FS90R steering engines.

7. The use method of the hanging type integrated device for delivering dishes and serving dishes as claimed in claim 1, wherein: the rotary steering engine is SR430P steering engine.

8. The use method of the hanging type integrated device for delivering dishes and serving dishes as claimed in claim 1, wherein: the opening and closing steering engine is a glow S90 steering engine.

9. The use method of the hanging type integrated device for delivering dishes and serving dishes as claimed in claim 1, wherein: and a 3 mm rubber layer is arranged at the clamping position on the front side of the guard plate.

10. The use method of the hanging type integrated device for delivering dishes and serving dishes as claimed in claim 1, wherein: the second sucking disc adsorption plane is level and smooth, is equipped with pressure sensor.