CN108482507A - A kind of service robot device - Google Patents
A kind of service robot device Download PDFInfo
- Publication number
- CN108482507A CN108482507A CN201810278193.5A CN201810278193A CN108482507A CN 108482507 A CN108482507 A CN 108482507A CN 201810278193 A CN201810278193 A CN 201810278193A CN 108482507 A CN108482507 A CN 108482507A
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- CN
- China
- Prior art keywords
- lifting
- fixedly installed
- wall
- chamber
- active
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
Abstract
The invention discloses a kind of service robot devices,Including apparatus main body,The lifting steering device being set in described device main body,It is fixedly installed on the food delivery box device of the lifting steering device upper end and the front and back mobile device for being symmetrically disposed on described device lower body face,The lifting steering device includes the steering motor fixed block being fixedly installed on the upside end face of described device main body right side,It is fixedly installed steering motor in the steering motor fixed block,It is provided with turn-around chamber in described device main body,The turn-around chamber is provided with active steering gear close to the side of right side inner wall,It is fixedly installed active steering axis at the axle center of the active steering gear,The upper end of the active steering axis, which extends through the upper inside walls of the turn-around chamber and is rotatably assorted, is connected to the lower end of the steering motor,It is provided with the first sealing ring between the active steering axis and the upper inside walls of the turn-around chamber.
Description
Technical field
The present invention relates to service robot technical field, specifically a kind of service robot device.
Background technology
Nowadays improper increase of employment cost causes the phenomenon that many places can not afford people, especially many service types
Industry, slow phenomenon of serving is frequently encountered when we go to dining room to have a meal, especially when weekend, people was more
It waits, a part of reason of such phenomenon is attributed to that waiter is less to cause slow phenomenon of serving, and if recruiting several services
There is the waste for causing human resources if member when customer is less, therefore design one kind to serve automatically, and then reduces people
A kind of service robot device served of food delivery of power input it is really necessary to.
Invention content
Technical problem to be solved by the invention is to provide a kind of service robot devices, can solve above-mentioned present skill
The problems in art.
The present invention is achieved through the following technical solutions：A kind of service robot device of the present invention, including device
Main body, is fixedly installed on sending for the lifting-transfer upper end at the lifting-transfer being set in described device main body
Cutlery box device and the front and back mobile device for being symmetrically disposed on described device lower body face, the lifting-transfer include
The steering motor fixed block being fixedly installed on the upside end face of described device main body right side, the steering motor are fixed
Be fixedly installed steering motor in block, be provided with turn-around chamber in described device main body, the turn-around chamber close to right side inner wall one
Side is provided with active steering gear, and active steering axis is fixedly installed at the axle center of the active steering gear, and the active turns
It extends through the upper inside walls of the turn-around chamber to the upper end of axis and is rotatably assorted and be connected to the lower end of the steering motor, it is described
The first sealing ring is provided between active steering axis and the upper inside walls of the turn-around chamber, the lower end of the active steering axis passes through
Bearing be rotatably assorted is connected to it is described rotation chamber downside inner wall on, the left side of the active steering gear and be located at the steering
Intracavitary is provided with the driven tooth sector for engaging and being connected with the active steering gear, the axle center of the driven tooth sector
Lower end is fixedly installed to be rotatably assorted by bearing the driven steering shaft being connected on the downside of the turn-around chamber on inner wall, it is described driven
The upper end of steering shaft extends through the upper inside walls of the turn-around chamber and is formed by the upside of bearing and the turn-around chamber and rotated
It is connected, the upper surface of described device main body is fixedly installed lifting fixed block, close to the lifting fixed block left end face
Upside end face on be fixedly installed electric rotating machine fixed block, be fixedly installed electric rotating machine in the electric rotating machine fixed block,
Rotating drum is provided in the lifting fixed block, the rotating drum is provided with active rotation gear close to the side of inner left wall,
It is fixedly installed active rotation axis at the axle center of the active rotation gear, the upper end of the active rotation axis extends through described
The upper inside walls of rotating drum are simultaneously rotatably assorted and are connected to the lower end of the electric rotating machine, and the lower end of the active rotation axis passes through axis
Dynamic mating connection is forwarded on the downside inner wall of the rotating drum, on the right side of the active rotation gear and is located in the rotating drum
It is provided with driven rotation gear, lower end and inner wall on the downside of the rotating drum are fixedly installed at the axle center of the driven rotation gear
Be rotatably assorted the first lifting rotary column of connection, and the first lifting groove of opening upwards is provided in the first lifting rotary column, described
First lifting groove is fixedly installed threaded block on the madial wall of upper end opening, and being provided in first lifting groove can be upper and lower
Sliding and the first lifting column for being connect with the threaded block screw-thread fit, be provided with that Open Side Down in first lifting column the
Two lifting grooves, second lifting column that can slide up and down is provided in second lifting groove, and second lifting column lower end extends
Inner wall and continue the by of extending downwardly through the downside inner wall of the rotating drum and be fixedly connected on the downside of first lifting groove
In the upper end of the driven steering shaft, what end face was provided with that opening is respectively facing both sides at left and right sides of the driven steering shaft leads position
Slot, first lifting column are fixedly installed extension on the madial wall of lower ending opening and are passed through in the position guiding groove and can be in institute
State slided up and down in position guiding groove lead a block.
The food delivery box device includes being fixedly installed on setting for first lifting column upper end as a preferred technical solution,
Cutlery box, it is described set be provided in cutlery box opening to the right set meal chamber, in the downside inner wall for setting meal chamber left and right array arrangement and
It is fixedly installed lifting pneumatic cylinder, pallet, the pallet is provided on the upside of the lifting pneumatic cylinder and positioned at the meal intracavitary of setting
Lower face and the lifting pneumatic cylinder between be equipped with lifting air pressure inner prop, it is described set meal chamber rear side inner wall on left and right
It array and is fixedly installed and identifies piece, the upside for setting cutlery box with pallet first position in the same plane respectively
End face is fixedly installed food delivery block, is provided in the food delivery block and moves horizontally chamber, on the downside inner wall for moving horizontally chamber
Be connected be provided with and it is described set the open slot that is connected of meal chamber, be fixedly installed in the inner left wall for moving horizontally chamber
Motor is moved horizontally, the motor right end be connected by power that moves horizontally moves horizontally leading screw, described to move horizontally leading screw and institute
It states and is provided with third sealing ring between the inner left wall for moving horizontally chamber, the right end for moving horizontally lead screw is rotated by bearing
Be connected on the right side inner wall for moving horizontally chamber, it is described move horizontally intracavitary and be provided with can horizontally slip and screw thread is matched
Close and be connected to the cunning that moves horizontally moved horizontally on leading screw, it is described move horizontally that sliding block lower end is fixedly connected with can be described
It horizontally slips in open slot and lower end extends downwardly and is passed through the connecting pole for setting meal intracavitary, lifting is provided in the connecting pole
Pneumatic cylinder, the downside of the lifting pneumatic cylinder and is provided with link block, the upper surface of the link block positioned at the meal intracavitary of setting
Lifting air pressure inner prop is equipped between the lifting pneumatic cylinder, the link block is on the downside end face of front/rear end
Front and back to be symmetrically arranged with connecting rod, the lower end of the connecting rod is fixedly connected with semiorbicular bracket, the link block rear side end
The medium position in face is fixedly installed second position identification piece.
The mobile device includes being symmetrical set the end face on the downside of described device main body as a preferred technical solution,
On the advance race that Open Side Down, be provided with active feeder wheel, the active advance wheel shaft in the advance race on right side
What is be connected in the inner left wall of the advance race on the right side on the left of at the heart is provided with the advance race phase with left side
The driving groove of connection, right end is fixedly installed at active feeder wheel axle center is rotatably assorted by bearing and be connected to the institute on right side
The transmission shaft on the right side inner wall of advance race is stated, the rotation axis left end extends through the driving groove and rotated by bearing
It is connected in the inner left wall of the left side advance race, is fixedly installed on the transmission shaft positioned at the left side advance
Driven feeder wheel in race is provided with the advance race phase with right side in the inner left wall of the advance race on right side
First driving groove of connection is provided with the first transmission gear being fixedly connected on the transmission shaft in first driving groove,
The second driving groove being connected with first driving groove is provided in the upper inside walls of first driving groove, described second passes
It is fixedly installed preceding stepper motor in the upper inside walls of dynamic slot, the preceding stepper motor lower end be connected by power has lower end to be rotated by bearing
The driving transmission shaft being connected on the downside of second driving groove on inner wall is fixedly installed on the driving transmission shaft and is located at
The second transmission gear being connected is engaged in second driving groove and with first transmission gear.
It is fixedly installed the first buffering sheet on the first lifting upper end face as a preferred technical solution,
The lower face that cutlery box is set described on the upside of the first buffering sheet is fixedly installed the second buffering sheet, and described the
One buffering sheet buffers sheet with described second to set cutlery box and described first described in reduction when cutlery box declines in described set
The service plate that cushion effect and then prevention between lifting rotary column set meal intracavitary is toppled over.
As a preferred technical solution, the food delivery block be fixedly installed on the downside end face of right end face first away from
From detection device, first distance detection device can control the liter by identifying the distance between food delivery block and desktop
Drop-transfer adjusts the vertical height distance between the food delivery box device and desktop.
It is fixedly installed second respectively on the medium position of four end faces of described device main body as a preferred technical solution,
Whether distance detection device, the second distance detection device can be by having barrier and planning new in identification device advance route
Advance route.
The beneficial effects of the invention are as follows：The configuration of the present invention is simple, it is easy to operate, by the present apparatus serve action when,
Staff is placed on the medium position of pallet upper surface by the vegetable plate that completes is filled, and advance electric motor starting at this time, into
And the rotation of the second transmission gear is driven by driving transmission shaft, and then the rotation of the first transmission gear is driven, and then pass through transmission shaft
Before drive active feeder wheel is rotated with driven feeder wheel, and then driving device main body advances to dining table, in the process, device master
Body can detect whether there is obstacle in advance route by the second distance detection device being set on four end faces of apparatus main body
Object simultaneously cooks up best advance route, while steering motor rotates, and then drives active steering gear by active steering axis
Rotation, and then driven steering axes are driven by the matching relationship that engages between active steering gear and driven tooth sector,
And then the rotation of the second lifting column is driven, and then drive the first lifting column to turn by leading the screens effect between block and position guiding groove
It is dynamic, and then the food delivery box device rotation for being fixedly connected on the first lifting column upper end is driven, and then can not be rotated in apparatus main body
In the case of switch between different dining tables food delivery work, when the present apparatus is moved to suitable position and turns over proper angle, first
Distance detection device detects the distance between food delivery block and desktop, and then by controlling electric rotating machine rotation, and then passes through master
Dynamic rotary shaft drives the rotation of active rotation gear, and then by engaging cooperation between active rotation gear and driven rotation gear
Connection drives driven rotary teeth wheel rotation, and then drives the first lifting rotary column rotation, and then passes through threaded block and the first lifting column
The screw-thread fit connection relation of outer surface drives the first lifting column to stretch out the first lifting groove, in the process, by lead a block with
Position effect of leading between position guiding groove may make the first lifting column vertical lifting, and then drives and set cutlery box lifting, pass through above-mentioned action
It drives the present apparatus to be moved to desktop and is located at the right side for setting meal chamber right openings and the lower position positioned at the food delivery block, at this time should
Lifting pneumatic cylinder on the downside of specified service plate on dining table starts, and then drives pallet to rise by lifting air pressure inner prop, and then band
The dynamic service plate for being positioned over pallet upper end rises, and moves horizontally motor rotation at this time, and then horizontal by moving horizontally leading screw drive
Mobile sliding block moves right moving horizontally intracavitary, and then connecting pole is driven to move right setting meal intracavitary, and then drives bracket
It moves right setting meal intracavitary, when the second position recognition detection being fixedly installed in link block back end surface to specified service plate position
When the first position identification piece set, motor stalls are moved horizontally, pneumatic cylinder is lifted at this time and is driven by lifting air pressure inner prop
Pallet declines, and service plate is sandwiched between front and back symmetrically arranged bracket at this time, is moved horizontally motor at this time and is rotated herein, and then band
The dynamic bracket for being clamped with service plate continues to move right and remove to set other than meal chamber right openings, until moving horizontally the right end of sliding block
Until face abuts against position with the right side inner wall for moving horizontally chamber, pneumatic cylinder is lifted at this time and is started, and then by lifting in air pressure
Column drives bracket to decline, and then the service plate being held on bracket is driven to drop on desktop, moves horizontally motor at this time and reversely turns
Dynamic that bracket is driven to be moved to the left, lifting pneumatic cylinder drives bracket to reply by lifting air pressure inner prop after bracket removes service plate bottom surface
To original state, moves horizontally motor drive and move horizontally sliding block and be returned to left side and abutted against with chamber inner left wall is moved horizontally
State and prepare the upper meal of next service plate.
Description of the drawings
The present invention is described in detail by following specific embodiment and attached drawing for ease of explanation,.
Fig. 1 is a kind of internal structure schematic diagram of service robot device of the present invention；
Fig. 2 is the enlarged diagram of " A " in Fig. 1；
Fig. 3 is the enlarged diagram of " B " in Fig. 1；
Fig. 4 is the left view of " A " in Fig. 1；
Fig. 5 is the vertical view of the bracket in the present invention.
Specific implementation mode
As Figure 1-Figure 5, a kind of service robot device of the invention, including apparatus main body 11, it is set to the dress
It sets lifting-transfer in main body 11, be fixedly installed on the food delivery box device of the lifting-transfer upper end and front and back
It is symmetrically disposed on the mobile device of 11 lower face of described device main body, the lifting-transfer is close including being fixedly installed on
Steering motor fixed block 28 on the upside end face of 11 right side of described device main body, it is fixed in the steering motor fixed block 28
Be provided with steering motor 27, be provided with turn-around chamber 21 in described device main body 11, the turn-around chamber 21 close to right side inner wall one
Side is provided with active steering gear 24, and active steering axis 25 is fixedly installed at the axle center of the active steering gear 24, described
The upper end of active steering axis 25, which extends through the upper inside walls of the turn-around chamber 21 and is rotatably assorted, is connected to the steering motor
27 lower end is provided with the first sealing ring 26 between the active steering axis 25 and the upper inside walls of the turn-around chamber 21, described
The lower end of active steering axis 25 is rotatably assorted by bearing on the downside inner wall for being connected to the rotation chamber 21, the active steering
It the left side of gear 24 and is provided in the turn-around chamber 21 and engage the driven of mating connection with the active steering gear 24
Tooth sector 22, the axle center of the driven tooth sector 22, which is fixedly installed lower end and is rotatably assorted by bearing, is connected to described turn
Driven steering shaft 23 on 21 downside inner wall of chamber, the upper end of the driven steering shaft 23 extend through the upper of the turn-around chamber 21
Side inner wall is simultaneously formed to be rotatably assorted and connect by the upside of bearing and the turn-around chamber 21, and the upper surface of described device main body 11 is consolidated
Surely it is provided with lifting fixed block 31, electric rotating is fixedly installed on the upside end face of lifting 31 left end face of fixed block
Machine fixed block 35, is fixedly installed electric rotating machine 36 in the electric rotating machine fixed block 35, setting in the lifting fixed block 31
There are rotating drum 32, the rotating drum 32 that the side of inner left wall is provided with active rotation gear 33, the active rotation tooth
It is fixedly installed active rotation axis 34 at the axle center of wheel 33, the upper end of the active rotation axis 34 extends through the rotating drum 32
Upper inside walls and be rotatably assorted and be connected to the lower end of the electric rotating machine 36, the lower end of the active rotation axis 34 passes through bearing
It is rotatably assorted and is connected on the downside inner wall of the rotating drum 32, on the right side of the active rotation gear 33 and be located at the rotating drum
It is provided with driven rotation gear 37 in 32, lower end and the rotating drum are fixedly installed at the axle center of the driven rotation gear 37
32 downside inner walls are rotatably assorted the first lifting rotary column 41 of connection, and the of opening upwards are provided in the first lifting rotary column 41
One lifting groove 42, first lifting groove 42 are fixedly installed threaded block 45 on the madial wall of upper end opening, and described first
It is provided with the first lifting column 43 that can be slided up and down and be connect with 45 screw-thread fit of the threaded block in lifting groove 42, described first
It is provided with the second lifting groove 47 that Open Side Down in lifting column 43, is provided in second lifting groove 47 and can slide up and down
Two lifting columns 51,51 lower end of the second lifting column extend through first lifting groove, 42 downside inner wall and continue to extend downwardly
The upper end of the driven steering shaft 23, the driven steering shaft are fixedly connected on by the downside inner wall of the rotating drum 32
23 left and right sides end face are provided with the position guiding groove 44 that opening is respectively facing both sides, and first lifting column 43 is close to lower ending opening
It is fixedly installed that extension is passed through in the position guiding groove 44 and what can be slided up and down in the position guiding groove 44 leads a block on madial wall
46。
Valuably, the food delivery box device include be fixedly installed on 43 upper end of the first lifting column set cutlery box 60, institute
State set be provided in cutlery box 60 opening to the right set meal chamber 64, left and right array arrangement and solid in the downside inner wall for setting meal chamber 64
Surely it is provided with and lifts pneumatic cylinder 61, pallet 63, institute are provided on the upside of the lifting pneumatic cylinder 61 and positioned at described set in meal chamber 64
It states and is equipped with lifting air pressure inner prop 62 between the lower face of pallet 63 and the lifting pneumatic cylinder 61, it is described to set chamber 64 of eating
It left and right array and is fixedly installed on rear side inner wall and identifies piece with the first position in the same plane of the pallet 63 respectively
79, the upside end face for setting cutlery box 60 is fixedly installed food delivery block 74, is provided in the food delivery block 74 and moves horizontally chamber 76,
Be provided with and the open slot 78 set meal chamber 64 and be connected being connected on the downside inner wall for moving horizontally chamber 76, it is described
It moves horizontally to be fixedly installed in the inner left wall of chamber 76 and moves horizontally motor 72, it is described to move horizontally 72 right end power of motor company
It is connected to and moves horizontally leading screw 77, described move horizontally is provided between leading screw 77 and the inner left wall for moving horizontally chamber 76
Three sealing rings 73, the right end for moving horizontally lead screw 77 is rotatably assorted by bearing is connected to the right side for moving horizontally chamber 76
On the inner wall of side, it is described move horizontally to be provided in chamber 76 can horizontally slip and screw-thread fit is connected to and described moves horizontally leading screw 77
On move horizontally sliding 75, it is described move horizontally 75 lower end of sliding block be fixedly connected with can horizontally slip in the open slot 78 and
Lower end, which extends downwardly, is passed through the connecting pole 71 set in meal chamber 64, and lifting pneumatic cylinder 69, institute are provided in the connecting pole 71
State the downside of lifting pneumatic cylinder 69 and be provided with link block 67 in meal chamber 64 positioned at described set, the upper surface of the link block 67 with
Lifting air pressure inner prop 68 is equipped between the lifting pneumatic cylinder 69, the link block 67 is close to the lower side of front/rear end
Front and back on face to be symmetrically arranged with connecting rod 66, the lower end of the connecting rod 66 is fixedly connected with semiorbicular bracket 65, the company
The medium position for connecing 67 back end surface of block is fixedly installed second position identification piece 82.
Valuably, the mobile device include be symmetrical set in the opening on 11 downside end face of described device main body to
Under advance race 91, be provided with active feeder wheel 92,92 axle center of active feeder wheel in the advance race 91 on right side
Locate the advance race 91 being provided with left side being connected in the inner left wall of the advance race 91 on the right side in left side
The driving groove 96 being connected, is fixedly installed right end at 92 axle center of active feeder wheel and is rotatably assorted by bearing and be connected to the right side
Transmission shaft 93 on the right side inner wall of the advance race 91 of side, 93 left end of the rotation axis extend through the driving groove 96
And be rotatably assorted by bearing in the inner left wall for being connected to the left side advance race 91, it is fixedly installed on the transmission shaft 93
There is the driven feeder wheel 94 in the left side advance race 91, is arranged in the inner left wall of the advance race 91 on right side
There is the first driving groove 102 being connected with the advance race 91 on right side, fixed company is provided in first driving groove 102
The first transmission gear 95 being connected on the transmission shaft 93, be provided in the upper inside walls of first driving groove 102 with it is described
The second driving groove 97 that first driving groove 102 is connected is fixedly installed advance in the upper inside walls of second driving groove 97
Motor 101,101 lower end be connected by power of the preceding stepper motor have lower end to be rotatably assorted by bearing to be connected to second driving groove
Driving transmission shaft 99 on 97 downside inner walls is fixedly installed in second driving groove 97 on the driving transmission shaft 99
And the second transmission gear 98 being connected is engaged with first transmission gear 95.
Valuably, it is fixedly installed the first buffering sheet 48 on the first lifting rotary column, 41 upper surface, be located at described
The lower face for setting cutlery box 60 of first buffering sheet 48 upside is fixedly installed the second buffering sheet 49, and described first
Buffering sheet 48 buffers sheet 49 with described second to set cutlery box 60 and institute described in reduction when cutlery box 60 declines in described set
It states the cushion effect between the first lifting rotary column 41 and then the service plate for preventing to set in meal chamber 64 is toppled over.
Valuably, the food delivery block 74 is fixedly installed the first distance detection device on the downside end face of right end face
81, first distance detection device 81 can control the lifting-by identifying the distance between food delivery block 74 and desktop
Transfer adjusts the vertical height distance between the food delivery box device and desktop.
Valuably, second distance detection dress is fixedly installed on the medium position of 11 4 end faces of described device main body respectively
Set 104, whether the second distance detection device 104 can be by having barrier and planning newly in identification device advance route before
Into route.
When original state, the lower face of the first lifting column 43 and the downside inner wall of the first lifting groove 42 abut against, and at this time
The upper surface of two lifting columns 51 and the upper inside walls of the second lifting groove 47 abut against, while setting cutlery box 60 and declining to greatest extent, this
When the first buffering 48 upper surface of sheet buffer the lower face of sheet 49 with second and abut against, while lifting air pressure inner prop 62 most
Limits are retracted in lifting pneumatic cylinder 61, and pallet 63 declines to greatest extent setting in meal chamber 64 at this time, while moving horizontally sliding block
75 left side is abutted against with the inner left wall for moving horizontally chamber 76, and bracket 65 is located at the left side set in meal chamber 64 to greatest extent at this time
Side position lifts air pressure inner prop 68 and retracts to greatest extent in lifting pneumatic cylinder 69 simultaneously.
By the present apparatus serve action when, staff will fill the vegetable plate that completes and be placed on pallet 63
The medium position of end face, preceding stepper motor 101 starts at this time, and then passes through and transmission shaft 99 is driven to drive 98 turns of the second transmission gear
It is dynamic, and then the rotation of the first transmission gear 95 is driven, and then active feeder wheel 92 and driven feeder wheel 94 are driven by transmission shaft 93
Rotation, and then before driving device main body 11 advances to dining table, in the process, apparatus main body 11 can be by being set to apparatus main body
Second distance detection device 104 on 11 4 end faces detect whether to have in advance route barrier and cook up it is best before
Into route, while steering motor 27 rotates, and then drives active steering gear 24 to rotate by active steering axis 25, and then passes through
The matching relationship that engages between active steering gear 24 and driven tooth sector 22 drives driven steering shaft 23 to rotate, and then drives
Second lifting column 51 rotates, and then drives 43 turns of the first lifting column by leading the effect of the screens between a block 46 and position guiding groove 44
It is dynamic, and then the food delivery box device rotation for being fixedly connected on 43 upper end of the first lifting column is driven, and then can not be rotated in apparatus main body
In the case of switch food delivery work between different dining tables, when the present apparatus is moved to suitable position and turns over proper angle, the
One distance detection device 81 detects the distance between food delivery block 74 and desktop, and then is rotated by controlling electric rotating machine 36, into
And drive active rotation gear 33 to rotate by active rotation axis 34, and then pass through active rotation gear 33 and driven rotation gear
Engagement between 37, which is connected, drives driven rotation gear 37 to rotate, and then the first lifting rotary column 41 is driven to rotate, Jin Ertong
The screw-thread fit connection relation for crossing 43 outer surface of threaded block 45 and the first lifting column drives the first lifting column 43 to stretch out the first lifting
Slot 42 may make the first lifting column 43 to rise vertically by the position effect of leading led between a block 46 and position guiding groove 44 in the process
Drop, so drive set cutlery box 60 lifting, by above-mentioned action drive the present apparatus be moved to desktop be located at set meal 64 right openings of chamber
Right side and positioned at the food delivery block 74 lower position, at this time the lifting pneumatic cylinder 61 on the downside of the specified service plate on the dining table open
It is dynamic, and then drive pallet 63 to rise by lifting air pressure inner prop 62, and then the service plate for being positioned over 63 upper end of pallet is driven to rise, this
When move horizontally the rotation of motor 72, and then move horizontally sliding block 75 by moving horizontally the drive of leading screw 77 and moving horizontally in chamber 76
Move right, so drive connecting pole 71 set meal chamber 64 in move right, and then drive bracket 65 setting meal chamber 64 in the right
It is mobile, when the second position identification 82 being fixedly installed in 67 back end surface of link block detects first of specified service plate position
It when setting identification piece 79, moves horizontally motor 72 and stops operating, lift pneumatic cylinder 61 at this time by lifting air pressure inner prop 62 and drive support
Disk 63 declines, and service plate is sandwiched between front and back symmetrically arranged bracket 65 at this time, is moved horizontally motor 72 at this time and is rotated herein, into
And the bracket 65 for being clamped with service plate is driven to continue to move right and remove to set other than meal 64 right openings of chamber, until moving horizontally cunning
Until the right side of block 75 abuts against position with the right side inner wall for moving horizontally chamber 76, pneumatic cylinder 69 is lifted at this time and is started, in turn
It drives bracket 65 to decline by lifting air pressure inner prop 68, and then the service plate being held on bracket 65 is driven to drop on desktop, this
When move horizontally motor 72 rotate backward drive bracket 65 be moved to the left, when bracket 65 remove service plate bottom surface after lift pneumatic cylinder 69
It drives bracket 65 to be returned to original state by lifting air pressure inner prop 68, moves horizontally the drive of motor 72 and move horizontally sliding block 75 and return
It answers to left side and moves horizontally the state and the upper meal for preparing next service plate that 76 inner left wall of chamber abuts against.
The beneficial effects of the invention are as follows：The configuration of the present invention is simple, it is easy to operate, by the present apparatus serve action when,
Staff is placed on the medium position of pallet upper surface by the vegetable plate that completes is filled, and advance electric motor starting at this time, into
And the rotation of the second transmission gear is driven by driving transmission shaft, and then the rotation of the first transmission gear is driven, and then pass through transmission shaft
Before drive active feeder wheel is rotated with driven feeder wheel, and then driving device main body advances to dining table, in the process, device master
Body can detect whether there is obstacle in advance route by the second distance detection device being set on four end faces of apparatus main body
Object simultaneously cooks up best advance route, while steering motor rotates, and then drives active steering gear by active steering axis
Rotation, and then driven steering axes are driven by the matching relationship that engages between active steering gear and driven tooth sector,
And then the rotation of the second lifting column is driven, and then drive the first lifting column to turn by leading the screens effect between block and position guiding groove
It is dynamic, and then the food delivery box device rotation for being fixedly connected on the first lifting column upper end is driven, and then can not be rotated in apparatus main body
In the case of switch between different dining tables food delivery work, when the present apparatus is moved to suitable position and turns over proper angle, first
Distance detection device detects the distance between food delivery block and desktop, and then by controlling electric rotating machine rotation, and then passes through master
Dynamic rotary shaft drives the rotation of active rotation gear, and then by engaging cooperation between active rotation gear and driven rotation gear
Connection drives driven rotary teeth wheel rotation, and then drives the first lifting rotary column rotation, and then passes through threaded block and the first lifting column
The screw-thread fit connection relation of outer surface drives the first lifting column to stretch out the first lifting groove, in the process, by lead a block with
Position effect of leading between position guiding groove may make the first lifting column vertical lifting, and then drives and set cutlery box lifting, pass through above-mentioned action
It drives the present apparatus to be moved to desktop and is located at the right side for setting meal chamber right openings and the lower position positioned at the food delivery block, at this time should
Lifting pneumatic cylinder on the downside of specified service plate on dining table starts, and then drives pallet to rise by lifting air pressure inner prop, and then band
The dynamic service plate for being positioned over pallet upper end rises, and moves horizontally motor rotation at this time, and then horizontal by moving horizontally leading screw drive
Mobile sliding block moves right moving horizontally intracavitary, and then connecting pole is driven to move right setting meal intracavitary, and then drives bracket
It moves right setting meal intracavitary, when the second position recognition detection being fixedly installed in link block back end surface to specified service plate position
When the first position identification piece set, motor stalls are moved horizontally, pneumatic cylinder is lifted at this time and is driven by lifting air pressure inner prop
Pallet declines, and service plate is sandwiched between front and back symmetrically arranged bracket at this time, is moved horizontally motor at this time and is rotated herein, and then band
The dynamic bracket for being clamped with service plate continues to move right and remove to set other than meal chamber right openings, until moving horizontally the right end of sliding block
Until face abuts against position with the right side inner wall for moving horizontally chamber, pneumatic cylinder is lifted at this time and is started, and then by lifting in air pressure
Column drives bracket to decline, and then the service plate being held on bracket is driven to drop on desktop, moves horizontally motor at this time and reversely turns
Dynamic that bracket is driven to be moved to the left, lifting pneumatic cylinder drives bracket to reply by lifting air pressure inner prop after bracket removes service plate bottom surface
To original state, moves horizontally motor drive and move horizontally sliding block and be returned to left side and abutted against with chamber inner left wall is moved horizontally
State and prepare the upper meal of next service plate.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
The change or replacement expected without creative work, should be covered by the protection scope of the present invention.Therefore, of the invention
Protection domain should be determined by the scope of protection defined in the claims.
Claims (6)
1. a kind of service robot device, including apparatus main body, lifting-transfer, solid for being set in described device main body
Surely it is set to the food delivery box device of the lifting-transfer upper end and front and back is symmetrically disposed on described device lower body face
Mobile device, the lifting-transfer includes being fixedly installed on the upside end face close to described device main body right side
Steering motor fixed block, be fixedly installed steering motor in the steering motor fixed block, be provided in described device main body
Turn-around chamber, the turn-around chamber are provided with active steering gear, the axle center of the active steering gear close to the side of right side inner wall
Place is fixedly installed active steering axis, and the upper end of the active steering axis extends through upper inside walls and the rotation of the turn-around chamber
It is connected and is provided between the lower end of the steering motor, the active steering axis and the upper inside walls of the turn-around chamber
One sealing ring, the lower end of the active steering axis are rotatably assorted by bearing on the downside inner wall for being connected to the rotation chamber, institute
It states the left side of active steering gear and is provided in the turn-around chamber and engage mating connection with the active steering gear
Driven tooth sector, the axle center of the driven tooth sector, which is fixedly installed lower end and is rotatably assorted by bearing, is connected to described turn
Driven steering shaft on the downside of to chamber on inner wall, the upper end of the driven steering shaft extends through the upper inside walls of the turn-around chamber simultaneously
It is formed to be rotatably assorted with the upside of the turn-around chamber by bearing and be connect, the upper surface of described device main body is fixedly installed lifting
Fixed block is fixedly installed electric rotating machine fixed block, the rotation on the upside end face of the lifting fixed block left end face
It is fixedly installed electric rotating machine in rotating motor fixed block, is provided with rotating drum in the lifting fixed block, the rotating drum is close
The side of inner left wall is provided with active rotation gear, and active rotation is fixedly installed at the axle center of the active rotation gear
Axis, the upper end of the active rotation axis, which extends through the upper inside walls of the rotating drum and is rotatably assorted, is connected to the electric rotating
The lower end of machine, the lower end of the active rotation axis is rotatably assorted by bearing to be connected on the downside inner wall of the rotating drum, institute
State on the right side of active rotation gear and be provided in the rotating drum driven rotation gear, the axle center of the driven rotation gear
Place is fixedly installed inner wall on the downside of lower end and the rotating drum and is rotatably assorted the first lifting rotary column connecting, and first lifting turns
The first lifting groove of opening upwards is provided in column, first lifting groove is fixedly installed on the madial wall of upper end opening
Threaded block is provided with the first lifting that can be slided up and down and be connect with the threaded block screw-thread fit in first lifting groove
Column is provided with the second lifting groove that Open Side Down in first lifting column, and downslide can be gone up by being provided in second lifting groove
The second dynamic lifting column, second lifting column lower end extend through inner wall on the downside of first lifting groove and continue to extend downwardly
The upper end of the driven steering shaft, described driven steering shaft or so are fixedly connected on by the downside inner wall of the rotating drum
Both sides of the face are provided with the position guiding groove that opening is respectively facing both sides, and first lifting column is solid on the madial wall of lower ending opening
Surely it is provided with that extension is passed through in the position guiding groove and what can be slided up and down in the position guiding groove leads a block.
2. a kind of service robot device according to claim 1, it is characterised in that：The food delivery box device includes fixing
Be set to the cutlery box of setting of first lifting column upper end, it is described set be provided in cutlery box opening to the right set meal chamber, it is described to set meal
Left and right array arrangement and it is fixedly installed lifting pneumatic cylinder in the downside inner wall of chamber, on the upside of the lifting pneumatic cylinder and positioned at described
It sets meal intracavitary and is provided with pallet, be equipped between the lower face of the pallet and the lifting pneumatic cylinder in lifting air pressure
Column left and right array and is fixedly installed respectively in the same plane with the pallet the on the rear side inner wall for setting meal chamber
One position identifies piece, and the upside end face for setting cutlery box is fixedly installed food delivery block, is provided with and moves horizontally in the food delivery block
Chamber, be connected on the downside inner wall for moving horizontally chamber be provided with and the open slot set meal chamber and be connected, the water
It is fixedly installed in the inner left wall of flat mobile cavity and moves horizontally motor, the motor right end be connected by power that moves horizontally has level
Mobile leading screw, described move horizontally is provided with third sealing ring between leading screw and the inner left wall for moving horizontally chamber, described
Move horizontally lead screw right end be rotatably assorted by bearing be connected to it is described move horizontally on the right side inner wall of chamber, it is described horizontal to move
Dynamic intracavitary, which is provided with, to horizontally slip and screw-thread fit is connected to the cunning that moves horizontally moved horizontally on leading screw, the level
Mobile sliding block lower end, which is fixedly connected with, to horizontally slip in the open slot and lower end extends downwardly to be passed through and described sets meal intracavitary
Connecting pole, be provided with lifting pneumatic cylinder in the connecting pole, the downside of the lifting pneumatic cylinder and set meal intracavitary positioned at described
It is provided with link block, lifting air pressure inner prop, institute are equipped between the upper surface of the link block and the lifting pneumatic cylinder
State link block close to the downside end face of front/rear end go forward after be symmetrically arranged with connecting rod, the lower end of the connecting rod is fixedly connected
There are semiorbicular bracket, the medium position of the link block back end surface to be fixedly installed second position identification piece.
3. a kind of service robot device according to claim 1, it is characterised in that：The mobile device includes left and right pair
Claim to be set to the advance race that Open Side Down on end face on the downside of described device main body, be provided in the advance race on right side
Active feeder wheel, at active feeder wheel axle center on the left of right side the advance race inner left wall in be connected set
It is equipped with the driving groove being connected with the advance race in left side, being fixedly installed right end at active feeder wheel axle center passes through
Bearing is rotatably assorted the transmission shaft on the right side inner wall for the advance race for being connected to right side, and the rotation axis left end extends logical
It crosses the driving groove and is rotatably assorted by bearing in the inner left wall for being connected to the left side advance race, on the transmission shaft
It is fixedly installed the driven feeder wheel being located in the advance race of left side, is set in the inner left wall of the advance race on right side
It is equipped with the first driving groove being connected with the advance race on right side, is provided in first driving groove and is fixedly connected on institute
The first transmission gear on transmission shaft is stated, is provided in the upper inside walls of first driving groove and is connected with first driving groove
The second logical driving groove is fixedly installed preceding stepper motor, the preceding stepper motor lower end in the upper inside walls of second driving groove
Be connected by power has lower end to be rotatably assorted by bearing the driving transmission shaft being connected on the downside of second driving groove on inner wall, described
It is fixedly installed in second driving groove on driving transmission shaft and engages mating connection with first transmission gear
Second transmission gear.
4. a kind of service robot device according to claim 1, it is characterised in that：The first lifting upper end face
On be fixedly installed the first buffering sheet, on the upside of the first buffering sheet described in set the lower face of cutlery box and fix
It is provided with the second buffering sheet, the first buffering sheet buffers sheet with described second and can decline in the cutlery box of setting
When reduce described in set cutlery box and it is described first lifting rotary column between cushion effect so that prevent set meal intracavitary service plate topple over.
5. a kind of service robot device according to claim 1, it is characterised in that：The food delivery block is close to right end face
Downside end face on be fixedly installed the first distance detection device, first distance detection device can by identify food delivery block with
The distance between desktop controls the lifting-transfer and adjusts vertical height between the food delivery box device and desktop in turn
Distance.
6. a kind of service robot device according to claim 1, it is characterised in that：Four end faces of described device main body
Second distance detection device is fixedly installed on medium position respectively, before the second distance detection device can be by identification device
Whether there is barrier on into route and plans new advance route.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810278193.5A CN108482507A (en) | 2018-03-31 | 2018-03-31 | A kind of service robot device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810278193.5A CN108482507A (en) | 2018-03-31 | 2018-03-31 | A kind of service robot device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108482507A true CN108482507A (en) | 2018-09-04 |
Family
ID=63317169
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810278193.5A Withdrawn CN108482507A (en) | 2018-03-31 | 2018-03-31 | A kind of service robot device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108482507A (en) |
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| CN102923204A (en) * | 2012-11-19 | 2013-02-13 | 北京理工大学 | Multi-degree-of-freedom two-wheeled robot with variable gravity center |
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