CN108527378A - A kind of Song Cai robots that can be served automatically - Google Patents
A kind of Song Cai robots that can be served automatically Download PDFInfo
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- CN108527378A CN108527378A CN201810222548.9A CN201810222548A CN108527378A CN 108527378 A CN108527378 A CN 108527378A CN 201810222548 A CN201810222548 A CN 201810222548A CN 108527378 A CN108527378 A CN 108527378A
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- gear
- robot
- pulley
- rack
- belt pulley
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47G—HOUSEHOLD OR TABLE EQUIPMENT
- A47G23/00—Other table equipment
- A47G23/08—Food-conveying devices for tables; Movable or rotary food-serving devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a kind of Song Cai robots that can be served automatically, its structure includes robot head, monitoring system, robot body, robot shoulder, fluid pressure type telescopic arm, fixture block of serving a dish, upper vegetable dish, intelligent serving device, pedestal, infrared distance measuring device, driving motor, mobile device, robot head is set to above robot body and is engaged by screw thread and is flexibly connected, monitoring system is set to inside robot head, robot shoulder is set to two upper lateral part of robot body and is connected by articulate, and fluid pressure type telescopic arm is set in front of robot shoulder.The present invention is by being equipped with intelligent serving device, when realizing that dish destination is sent in the arrival of Song Cai robots, length realization by controlling robot arm is served automatically, signal language can be also sent out while serving, prompt guest pays attention to, it prevents from scalding, effectively enhances the degree of automation and humanization level of Song Cai robots.
Description
Technical field
The present invention is a kind of Song Cai robots that can be served automatically, belongs to robot field.
Background technology
Robot (Robot) is the automatic installations for executing work.It can not only receive mankind commander, but also can run
The program of advance layout, can also be according to principle program action formulated with artificial intelligence technology.Its task is to assist or take
For work such as the work of human work, such as production industry, construction industry.
But the Song Cai robots of the prior art can not automatically be carried out after arriving at by controlling hydraulic arm
Dish also needs human assistance, the degree of automation relatively low.
Invention content
In view of the deficienciess of the prior art, it is an object of the present invention to provide a kind of Song Cai robots that can be served automatically, with
The Song Cai robots for solving the prior art can not automatically be served by controlling hydraulic arm after arriving at, also need people
Work assists, the lower defect of the degree of automation.
To achieve the goals above, the present invention is to realize by the following technical solutions：It is a kind of can serve automatically give
Dish robot, structure include robot head, monitoring system, robot body, robot shoulder, fluid pressure type telescopic arm, end
Dish fixture block, upper vegetable dish, intelligent serving device, pedestal, infrared distance measuring device, driving motor, mobile device, the robot head
It is engaged above robot body and by screw thread and is flexibly connected, the monitoring system is set to inside robot head, described
Robot shoulder is set to two upper lateral part of robot body and is connected by articulate, and the fluid pressure type telescopic arm is set to robot
In front of shoulder, fluid pressure type telescopic arm one end is flexibly connected by robot shoulder with robot body, the fixture block of serving a dish
It is connected set on fluid pressure type telescopic arm front end and with by electric welding, the upper vegetable dish is set between two fixture blocks of serving a dish, the intelligence
Energy serving device is set to inside robot body, and the pedestal is set to below robot body and is connected by electric welding, described
Infrared distance measuring device is embedded among base plate front surface and be electrically connected with driving motor, the driving motor set on chassis interior and
It is connected by electric welding with intelligent serving device, the mobile device is set to below pedestal and passes through electric welding with intelligent serving device
It is connected, the intelligence serving device is by kinetic energy transmission mechanism, driving gear set, haulage gear, telescoping drive mechanism, hydraulic pressure system
System, rack gear, prompt actuating mechanism, prompting device of serving composition, the kinetic energy transmission mechanism be set to chassis interior and with
Driving motor is flexibly connected, and the transmission gear is mounted on kinetic energy transmission mechanism upper left side and is flexibly connected by gear teeth meshing,
The haulage gear is set to above driving gear set and is flexibly connected by gear teeth meshing, and the telescoping drive mechanism is set to traction
It mechanism upper right side and is intertwined and connected by traction rope, the hydraulic system is set to robot shoulder inboard side and passes through electric welding perforation
Connection, the rack gear are set to telescoping drive mechanism left side side and are intertwined and connected by traction rope, and the prompt starts
Mechanism is set to above rack gear and is connected by electric welding with robot body's inner wall, and the prompting device of serving is embedded in
It robot body upper left side and is electrically connected with robot body.
Further, the kinetic energy transmission mechanism is by power output shaft, the first belt pulley, the first driving belt, the second skin
Belt wheel, third belt pulley, the second driving belt, rotation end block, strut composition, the power output shaft is horizontal to be set to driving
Motor left side side and one end insertion driving motor inside be flexibly connected by screw thread, the power output shaft other end through
First belt pulley, the center of third belt pulley and be flexibly connected with rotation end block, first driving belt is set on the first belt
Between wheel, the second belt pulley and engagement is flexibly connected, and second belt pulley is fixedly connected with mobile device by electric welding, described
Second driving belt is set between third belt pulley, driving gear set and engagement flexible connection, and the strut is set to rotation end block
Lower section and pass through be welded vertical connection.
Further, the driving gear set is by screw thread belt pulley, wheel shaft, the first bevel gear, drive link, the second umbrella tooth
Wheel, helical gear composition, the wheel shaft is through screw thread pulley centers and by being welded vertical connection, the screw thread belt pulley
It is flexibly connected with robot body's inner wall by wheel shaft, the screw thread belt pulley left-hand face is equipped with screw thread, first umbrella tooth
It takes turns the screw thread being equipped with by the gear teeth and screw thread belt pulley left-hand face and engages flexible connection, the drive link one with screw thread belt pulley
End is connected with the first bevel gear by electric welding, and the drive link other end is connected with the second bevel gear by electric welding, described
Second bevel gear is set in front of helical gear and engages activity with helical gear by the screw thread of the gear teeth and helical gear front surface
Connection, the helical gear engage flexible connection with haulage gear by the gear teeth.
Further, the haulage gear is by fixing bracket, half gear, convolution spring, directive wheel, the first traction rope group
It is horizontal at, the fixing bracket and set and its right end passes through with robot body's inner wall and is welded vertical connection, half tooth
Wheel engages flexible connection with helical gear set on fixing bracket left end and by the gear teeth, and the convolution spring is set to half gear centre
And be connected by electric welding, the directive wheel is flexibly connected set on left section in fixing bracket and by screw, first traction
The wheel shaft of rope one ends wound and half gear, the first traction rope other end wind company around directive wheel and with telescoping drive mechanism
It connects.
Further, the telescoping drive mechanism is by L-type pipe, compressed spring, welding base, L-type telescopic rod, kinking part, rotation
Turn push-pull rod, the second traction rope, fixed pulley composition, one end of the L-type pipe connects with robot body's inner wall by the way that electric welding is vertical
Connect, the compressed spring is set to above L-type pipe and by welding base and L-type pipe vertical welding, the L-type telescopic rod in shape and
And if inside one end insertion L-type pipe and be gap-matched, the kinking part is set to L-type telescopic rod upper end left side and passes through
It is welded vertical connection, rotating sliding bar one end is flexibly connected by hinge with L-type telescopic rod, and the rotating sliding bar is another
End is connect with hydraulic system by articulate, and second traction rope one end is intertwined and connected with kinking part, second traction
The rope other end is intertwined and connected around fixed pulley with rack gear.
Further, the hydraulic system is made of elliptic wheel, hydraulic tube, hydraulic cylinder, piston block, push rod, the hydraulic pressure
Pipe is set to robot shoulder inboard and is penetrated through with fluid pressure type telescopic arm and connected, and the elliptic wheel is set between two hydraulic tubes, and
It being flexibly connected by bolt with robot body's inner wall, the hydraulic cylinder is set to hydraulic tube inner end and is in integrated molding structure,
The piston block is set to inside hydraulic cylinder and is coordinated using transition, and vertical connect is blown in described push rod one end with piston block by electric welding
It connects, the push rod other end engages flexible connection with elliptic wheel edge.
Further, the rack gear is by the first rack, first pulley, first pulley frame, clump weight, commutating tooth
Wheel, the second rack, second pulley, second pulley frame, mandril composition, first rack are set to spur gear right side side and pass through wheel
Tooth engagement is flexibly connected, and first rack is internally provided with sliding rail, and the first pulley is in sliding rail and is slidably connected, described
First pulley frame is connected with the wheel shaft of first pulley by electric welding, and the clump weight is set to below the first rack and passes through rope
Be intertwined and connected, first rack upper end is intertwined and connected with the second traction rope, second rack be set to spur gear left side side and
It is flexibly connected by gear teeth meshing, second rack is internally provided with sliding rail, and the second pulley is in sliding rail and sliding connects
It connects, the second pulley frame is connected with the wheel shaft of second pulley by electric welding, and the mandril is set to above the second rack and logical
Electric welding is crossed to be connected.
Further, the prompt actuating mechanism is made of swing rod, hinge seat, startup push rod, and the swing rod is oblique
And set and one end is flexibly connected with hinge seat, described swing rod one end is welded by hinge seat and robot body's inner wall, described
Start push rod to be set to above the swing rod other end and by electric welding be connected.
Advantageous effect
A kind of Song Cai robots that can be served automatically of the present invention first pass through the positioning system inside robot head and realize
Position positions, and driving motor drives the rotation of the first belt pulley, the first belt pulley to be passed again by first by power output shaft at this time
Dynamic belt drives the rotation of the second belt pulley, and the second belt pulley is welded with mobile device, therefore mobile device rotation realizes that position is moved
It is dynamic, while infrared distance measuring device carries out range measurement, when arriving at soon, driving motor is stopped, at this time mobile dress
It sets and stops rotating, while the screw thread that third belt pulley stops rotating, and is connected with third belt pulley by the second driving belt
Belt pulley stops rotating, and the first bevel gear, drive link, the second bevel gear, helical gear stop therewith, and half gear loses screw thread
The rotary force of gear, half gear circle round under the elastic potential energy effect of convolution spring, and first traction rope one end is pullled in release
Power, and the other end of the first traction rope is needle-shaped around the power of pullling to kinking part is unclamped after directive wheel in the inverse time, L-type is flexible at this time
Bar is without the downward pulling force of the first traction rope, the upper bullet under the elastic potential energy effect of compressed spring, and passes through rotating sliding bar
It pushes elliptic wheel rotation, elliptic wheel to be rotated to horizontal by vertical shape, pushes piston block to press outward by push rod, it will be in hydraulic cylinder
Liquid squeezed into fluid pressure type telescopic arm through hydraulic tube, make fluid pressure type telescopic arm elongation dish is sent to dining table；In L-type telescopic rod
While upper top, the pulling force to second traction rope one end is relaxed by kinking part, and the second traction rope other end is in the inverse time
Needle-shaped around being connected with the first rack after fixed pulley, the first rack then loses upward pulling force, in its own and clump weight
Gravity under, the first rack moves down, and drives spur gear in rotating clockwise, while positioned at spur gear left side side
Second rack can move up, and will be pushed up on swing rod by mandril, and swing rod is pushed away by starting simultaneously by pendulum on origin of hinge seat
Bar withstands the switch for prompting device of serving, and prompting device of serving sends out the prompt of voice prompt sound and to serve, and the people that entertains guests pays attention to.
A kind of Song Cai robots that can be served automatically of the present invention, by being equipped with intelligent serving device, dish machine is sent in realization
When dish destination is sent in people's arrival, the length realization by controlling robot arm is served automatically, can also be sent out while serving
Signal language prompts guest note that preventing from scalding, effectively enhances the degree of automation and humanization level of Song Cai robots.
Description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is a kind of structural schematic diagram for the Song Cai robots that can be served automatically of the present invention.
Fig. 2 is a kind of structural plan figure for the Song Cai robots that can be served automatically of the present invention.
Fig. 3 is a kind of structural plan figure of intelligent serving device of the present invention.
Fig. 4 is a kind of detailed construction schematic diagram of intelligent serving device of the present invention.
Fig. 5 is a kind of working state figure of intelligent serving device of the present invention.
In figure：Robot head -1, monitoring system -2, robot body -3, robot shoulder -4, fluid pressure type telescopic arm -
5, it serves a dish fixture block -6, upper vegetable dish -7, intelligent serving device -8, pedestal -9, infrared distance measuring device -10, driving motor -11, mobile
Device -12, kinetic energy transmission mechanism -81, driving gear set -82, haulage gear -83, telescoping drive mechanism -84, hydraulic system -
85, rack gear -86, prompt actuating mechanism -87, prompting device -88 of serving, power output shaft -811, the first belt pulley -
812, the first driving belt -813, the second belt pulley -814, third belt pulley -815, the second driving belt -816, rotation end block -
817, strut -818, screw thread belt pulley -821, wheel shaft -822, the first bevel gear -823, drive link -824, the second bevel gear -
825, helical gear -826, fixing bracket -831, half gear -832, convolution spring -833, directive wheel -834, the first traction rope -
835, L-type pipe -841, compressed spring -842, welding base -843, L-type telescopic rod -844, kinking part -845, rotating sliding bar -
846, the second traction rope -847, fixed pulley -848, elliptic wheel -851, hydraulic tube -852, hydraulic cylinder -853, piston block -854, push away
Bar -855, the first rack -861, first pulley -862, first pulley frame -863, clump weight -864, spur gear -865, the second tooth
Item -866, second pulley frame -868, mandril -869, swing rod -871, hinge seat -872, starts push rod -873 at second pulley -867.
Specific implementation mode
To make the technical means, the creative features, the aims and the efficiencies achieved by the present invention be easy to understand, with reference to
Specific implementation mode, the present invention is further explained.
- Fig. 5 is please referred to Fig.1, the present invention provides a kind of technical solution for the Song Cai robots that can be served automatically：Its structure packet
It includes robot head 1, monitoring system 2, robot body 3, robot shoulder 4, fluid pressure type telescopic arm 5, fixture block 6 of serving a dish, serve
Disk 7, intelligent serving device 8, pedestal 9, infrared distance measuring device 10, driving motor 11, mobile device 12, the robot head 1
It is engaged above robot body 3 and by screw thread and is flexibly connected, the monitoring system 2 is set to inside robot head 1, institute
Robot shoulder 4 is stated set on 3 liang of upper lateral parts of robot body and is connected by articulate, the fluid pressure type telescopic arm 5 is set to
4 front of robot shoulder, described 5 one end of fluid pressure type telescopic arm are flexibly connected by robot shoulder 4 with robot body 3, institute
It states fixture block 6 of serving a dish set on 5 front end of fluid pressure type telescopic arm and with by electric welding to be connected, the upper vegetable dish 7 is set to two serving clamps
Between block 6, the intelligence serving device 8 is set to inside robot body 3, and the pedestal 9 is set to 3 lower section of robot body and leads to
It crosses electric welding to be connected, the infrared distance measuring device 10 is embedded among 9 front surface of pedestal and is electrically connected with driving motor 11, described
Driving motor 11 is set to 9 inside of pedestal and is connected by electric welding with intelligent serving device 8, and the mobile device 12 is set to pedestal
It is connected below 9 and with intelligent serving device 8 by electric welding, the intelligence serving device 8 is by kinetic energy transmission mechanism 81, driving cog
Wheel group 82, haulage gear 83, telescoping drive mechanism 84, hydraulic system 85, rack gear 86, prompt actuating mechanism 87, on
Dish prompting device 88 forms, and the kinetic energy transmission mechanism 81 is set to 9 inside of pedestal and is flexibly connected with driving motor 11, the transmission
Gear set 82 is set to 81 upper left side of kinetic energy transmission mechanism and is flexibly connected by gear teeth meshing, and the haulage gear 83 is set to transmission
It is flexibly connected above gear set 82 and by gear teeth meshing, the telescoping drive mechanism 84 is set to 83 upper right side of haulage gear and leads to
It crosses traction rope to be intertwined and connected, the hydraulic system 85 is set to 4 inboard side of robot shoulder and by being welded perforation connection, the tooth
Strip transmission mechanism 86 is set to 84 left side side of telescoping drive mechanism and is intertwined and connected by traction rope, and the prompt actuating mechanism 87 is set
It is connected above rack gear 86 and with 3 inner wall of robot body by electric welding, the prompting device 88 of serving is embedded in
It 3 upper left side of robot body and is electrically connected with robot body 3, the kinetic energy transmission mechanism 81 is by power output shaft 811, first
Belt pulley 812, the first driving belt 813, the second belt pulley 814, third belt pulley 815, the second driving belt 816, round end
Block 817, strut 818 form, and the power output shaft 811 is horizontal to be set to 11 left side side of driving motor and one end insertion drive
It is flexibly connected by screw thread inside dynamic motor 11,811 other end of the power output shaft is through the first belt pulley 812, third
The center of belt pulley 815 and with rotation end block 817 be flexibly connected, first driving belt 813 set on the first belt pulley 812,
Between second belt pulley 814 and engagement flexible connection, second belt pulley 814 connect with mobile device 12 by the way that electric welding is fixed
It connects, second driving belt 816 is set between third belt pulley 815, driving gear set 82 and engagement flexible connection, the branch
Bar 818 is set to 817 lower section of rotation end block and by being welded vertical connection, and the driving gear set 82 is by screw thread belt pulley 821, wheel
Axis 822, the first bevel gear 823, drive link 824, the second bevel gear 825, helical gear 826 form, the wheel shaft 822 through
821 center of screw thread belt pulley and by being welded vertical connection, the screw thread belt pulley 821 passes through wheel shaft 822 and robot body 3
Inner wall is flexibly connected, and 821 left-hand face of screw thread belt pulley is equipped with screw thread, and first bevel gear 823 passes through the gear teeth and spiral shell
The screw thread that 821 left-hand face of grain leather belt wheel is equipped with engages flexible connection with screw thread belt pulley 821,824 one end of the drive link with
First bevel gear 823 is connected by electric welding, and 824 other end of the drive link is connected with the second bevel gear 825 by electric welding,
Second bevel gear 825 is set to 826 front of helical gear and passes through the screw thread and screw thread of 826 front surface of the gear teeth and helical gear
The engagement flexible connection of gear 826, the helical gear 826 engage flexible connection, the traction with haulage gear 83 by the gear teeth
Mechanism 83 is made of fixing bracket 831, half gear 832, convolution spring 833, directive wheel 834, the first traction rope 835, described solid
Fixed rack 831 is horizontal and sets and its right end and 3 inner wall of robot body pass through and be welded vertical connection, half gear 832
Flexible connection is engaged with helical gear 826 set on 831 left end of fixing bracket and by the gear teeth, the convolution spring 833 is set to half
832 center of gear and by electric welding be connected, the directive wheel 834 be set to fixing bracket 831 in left section and pass through screw activity
Connection, the wheel shaft of 835 one ends wound of the first traction rope and half gear 832,835 other end of the first traction rope are bypassed and are led
It is intertwined and connected to wheel 834 and with telescoping drive mechanism 84, the telescoping drive mechanism 84 is by L-type pipe 841, compressed spring 842, weldering
Joint chair 843, L-type telescopic rod 844, kinking part 845, rotating sliding bar 846, the second traction rope 847, fixed pulley 848 form, described
One end of L-type pipe 841 is set to by being welded vertical connection, the compressed spring 842 on L-type pipe 841 with 3 inner wall of robot body
Just and by welding base 843 and 841 vertical welding of L-type pipe, the L-type telescopic rod 844 is set in shape and one end insertion L-type
841 inside of pipe is simultaneously gap-matched, and the kinking part 845 is set to 844 upper end left side of L-type telescopic rod and by being welded vertically
Connection, described 846 one end of rotating sliding bar are flexibly connected by hinge with L-type telescopic rod 844, and the rotating sliding bar 846 is another
One end is connect with hydraulic system 85 by articulate, and described second traction rope, 847 one end is intertwined and connected with kinking part 845, institute
It states 847 other end of the second traction rope to be intertwined and connected with rack gear 86 around fixed pulley 848, the hydraulic system 85 is by ellipse
Circle wheel 851, hydraulic tube 852, hydraulic cylinder 853, piston block 854, push rod 855 form, and the hydraulic tube 852 is set to robot shoulder
4 is inboard and penetrate through and connect with fluid pressure type telescopic arm 5, and the elliptic wheel 851 is set between two hydraulic tubes 852, and and robot
3 inner wall of main body is flexibly connected by bolt, and the hydraulic cylinder 853 is set to 852 inner end of hydraulic tube and is in integrated molding structure, institute
Piston block 854 is stated set on 853 inside of hydraulic cylinder and is coordinated using transition, 855 one end of the push rod passes through electric welding with piston block 854
Blow vertical connection, 855 other end of the push rod engages flexible connection with 851 edge of elliptic wheel, the rack gear 86 by
First rack 861, first pulley 862, first pulley frame 863, clump weight 864, spur gear 865, the second rack 866, second are slided
Wheel 867, second pulley frame 868, mandril 869 form, and first rack 861 is set to 865 right side side of spur gear and passes through the gear teeth
Engagement flexible connection, first rack 861 are internally provided with sliding rail, and the first pulley 862 is in sliding rail and is slidably connected,
The first pulley frame 863 is connected with the wheel shaft of first pulley 862 by electric welding, and the clump weight 864 is set to the first rack
It being intertwined and connected below 861 and by rope, 861 upper end of the first rack is intertwined and connected with the second traction rope 847, and described second
Rack 866 is set to 865 left side side of spur gear and is flexibly connected by gear teeth meshing, and second rack 866 is internally provided with sliding rail,
The second pulley 867 is in sliding rail and is slidably connected, and the second pulley frame 868 and the wheel shaft of second pulley 867 pass through
Electric welding is connected, and the mandril 869 is set to 866 top of the second rack and is connected by electric welding, the prompt actuating mechanism 87
By swing rod 871, hinge seat 872, start push rod 873 and form, the swing rod 871 is oblique and sets and one end and hinge seat
872 flexible connections, 871 one end of the swing rod are welded by hinge seat 872 and 3 inner wall of robot body, the startup push rod 873
It is connected above 871 other end of swing rod and by electric welding.
A kind of Song Cai robots that can be served automatically of the present invention, its working principle is that：It first passes through inside robot head 1
Positioning system realize position positioning, at this time driving motor 11 by power output shaft 811 drive the first belt pulley 812 rotation,
First belt pulley 812 drives the second belt pulley 814 to rotate by the first driving belt 813 again, and the second belt pulley 814 and movement
Device 12 weld, therefore mobile device 12 rotation realize position movement, while infrared distance measuring device 10 carry out range measurement, when near
When up to destination, driving motor 11 is stopped, and mobile device 12 is stopped rotating at this time, while third belt pulley 815 stops rotation
Turn, and is stopped rotating by the screw thread belt pulley 821 that the second driving belt 816 is connected with third belt pulley 815, and the first umbrella
Gear 823, drive link 824, the second bevel gear 825, helical gear 826 stop therewith, and half gear 832 loses helical gear 826
Rotary force, half gear 832 convolution spring 833 elastic potential energy effect under circle round, unclamp to 835 one end of the first traction rope
Power is pullled, and the other end of the first traction rope 835 is needle-shaped around release pullling to kinking part 845 after directive wheel 834 in the inverse time
Power, L-type telescopic rod 844 is without the downward pulling force of the first traction rope 835 at this time, in the elastic potential energy effect of compressed spring 842
Upper bullet down, and push elliptic wheel 851 to rotate by rotating sliding bar 846, elliptic wheel 851 are rotated to horizontal by vertical shape, are led to
Crossing push rod 855869 pushes piston block 854 to press outward, and the liquid in hydraulic cylinder 853 is squeezed into fluid pressure type through hydraulic tube 852 and is stretched
In arm 5, the elongation of fluid pressure type telescopic arm 5 is made to send dish to dining table；While being pushed up on L-type telescopic rod 844, pass through kinking part
845 relax the pulling force to 847 one end of the second traction rope, and 847 other end of the second traction rope is needle-shaped around fixed pulley in the inverse time
It is connected with the first rack 861 after 848, the first rack 861 then loses upward pulling force, in its own and clump weight 864
Under gravity, the first rack 861 moves down, and it is in rotate clockwise, while being located at spur gear 865 to drive spur gear 865
Second rack 866 of left side side can move up, and will be pushed up on swing rod 871 by mandril 869, and swing rod 871 is with hinge seat 872
Pendulum withstands the switch for prompting device 88 of serving by starting push rod 873 simultaneously on origin, and prompting device 88 of serving sends out voice prompt sound
Prompt will serve, and the people that entertains guests pays attention to.
Problems solved by the invention is that the Song Cai robots of the prior art can not be after arriving at, by controlling hydraulic pressure
Arm is served automatically, also needs human assistance, and the degree of automation is relatively low, and the present invention is combined with each other by above-mentioned component, is passed through
Equipped with intelligent serving device, when realizing that dish destination is sent in the arrival of Song Cai robots, the length by controlling robot arm is realized
Automatically it serves, signal language can be also sent out while serving, prompt guest note that preventing from scalding, effectively enhance and send dish machine
The degree of automation and humanization level of device people.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention, for this field skill
For art personnel, it is clear that invention is not limited to the details of the above exemplary embodiments, and without departing substantially from the present invention spirit or
In the case of essential characteristic, the present invention can be realized in other specific forms.Therefore, in all respects, should all incite somebody to action
Embodiment regards exemplary as, and is non-limiting, the scope of the present invention by appended claims rather than on state
Bright restriction, it is intended that including all changes that come within the meaning and range of equivalency of the claims in the present invention
It is interior.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiment being appreciated that.
Claims (8)
1. a kind of Song Cai robots that can be served automatically, structure includes robot head (1), monitoring system (2), robot master
Body (3), robot shoulder (4), fluid pressure type telescopic arm (5), fixture block of serving a dish (6), upper vegetable dish (7), intelligent serving device (8), bottom
Seat (9), infrared distance measuring device (10), driving motor (11), mobile device (12), it is characterised in that：
The robot head (1) is set to above robot body (3) and is engaged by screw thread and is flexibly connected, the monitoring system
(2) it is internal to be set to robot head (1), the robot shoulder (4) is set to (3) two upper lateral part of robot body and passes through hinge
Flexible connection, the fluid pressure type telescopic arm (5) are set in front of robot shoulder (4), and described fluid pressure type telescopic arm (5) one end passes through
Robot shoulder (4) is flexibly connected with robot body (3), the fixture block of serving a dish (6) be set to fluid pressure type telescopic arm (5) front end and
It is connected with by electric welding, the upper vegetable dish (7) is set between two fixture blocks of serving a dish (6), and the intelligence serving device (8) is set to
Robot body (3) is internal, and the pedestal (9) is set to below robot body (3) and is connected by electric welding, the infrared survey
It is embedded among pedestal (9) front surface away from device (10) and is electrically connected with driving motor (11), the driving motor (11) is set to
Pedestal (9) is internal and is connected by electric welding with intelligent serving device (8), and the mobile device (12) is set to below pedestal (9)
And it is connected by electric welding with intelligent serving device (8)；
The intelligence serving device (8) is by kinetic energy transmission mechanism (81), driving gear set (82), haulage gear (83), flexible drive
Motivation structure (84), hydraulic system (85), rack gear (86), prompt actuating mechanism (87), prompting device of serving (88) composition,
The kinetic energy transmission mechanism (81) is set to pedestal (9) inside and is flexibly connected with driving motor (11), the driving gear set
(82) it is set to kinetic energy transmission mechanism (81) upper left side and is flexibly connected by gear teeth meshing, the haulage gear (83) is set to transmission
It is flexibly connected above gear set (82) and by gear teeth meshing, the telescoping drive mechanism (84) is set to haulage gear (83) upper right
It is intertwined and connected just and by traction rope, the hydraulic system (85) is set to robot shoulder (4) inboard side and passes through to be welded and penetrates through
Connection, the rack gear (86) is set to telescoping drive mechanism (84) left side side and is intertwined and connected by traction rope, described
Prompt actuating mechanism (87) is set to above rack gear (86) and is connected by electric welding with robot body's (3) inner wall,
The prompting device of serving (88) is embedded in robot body (3) upper left side and is electrically connected with robot body (3).
2. a kind of Song Cai robots that can be served automatically according to claim 1, it is characterised in that：The kinetic energy driver
Structure (81) is by power output shaft (811), the first belt pulley (812), the first driving belt (813), the second belt pulley (814),
Three belt pulleys (815), the second driving belt (816), rotation end block (817), strut (818) composition, the power output shaft
(811) horizontal be set to inside driving motor (11) left side side and one end insertion driving motor (11) is connected by screw thread activity
Connect, power output shaft (811) other end through the first belt pulley (812), third belt pulley (815) center and with rotation
Turn end block (817) flexible connection, first driving belt (813) is set to the first belt pulley (812), the second belt pulley (814)
Between and engagement flexible connection, second belt pulley (814) and mobile device (12) be fixedly connected by being welded, described second
Driving belt (816) is set between third belt pulley (815), driving gear set (82) and engagement flexible connection, the strut
(818) it is set to below rotation end block (817) and by being welded vertical connection.
3. a kind of Song Cai robots that can be served automatically according to claim 1 or 2, it is characterised in that：The driving cog
Wheel group (82) is by screw thread belt pulley (821), wheel shaft (822), the first bevel gear (823), drive link (824), the second bevel gear
(825), helical gear (826) forms, and the wheel shaft (822) is through screw thread belt pulley (821) center and vertical by being welded
Connection, the screw thread belt pulley (821) are flexibly connected by wheel shaft (822) with robot body (3) inner wall, the screw thread belt
It takes turns (821) left-hand face and is equipped with screw thread, first bevel gear (823) passes through the gear teeth and screw thread belt pulley (821) left-hand face
The screw thread being equipped with engages flexible connection, described drive link (824) one end and the first bevel gear (823) with screw thread belt pulley (821)
It is connected by electric welding, drive link (824) other end is connected with the second bevel gear (825) by electric welding, and described second
Bevel gear (825) is set in front of helical gear (826) and passes through the gear teeth and the screw thread and thread of helical gear (826) front surface
(826) engagement flexible connection is taken turns, the helical gear (826) engages flexible connection by the gear teeth with haulage gear (83).
4. a kind of Song Cai robots that can be served automatically according to claim 1, it is characterised in that：The haulage gear
(83) by fixing bracket (831), half gear (832), convolution spring (833), directive wheel (834), the first traction rope (835) group
It is horizontal at, the fixing bracket (831) and set and its right end with robot body's (3) inner wall by being welded vertical connection,
Half gear (832) is set to fixing bracket (831) left end and engages flexible connection, institute with helical gear (826) by the gear teeth
It states convolution spring (833) to be set to half gear (832) center and by electric welding be connected, the directive wheel (834) is set to fixed branch
It left section and is flexibly connected by screw, the wheel of the first traction rope (835) one ends wound and half gear (832) in frame (831)
Axis, the first traction rope (835) other end are intertwined and connected around directive wheel (834) and with telescoping drive mechanism (84).
5. a kind of Song Cai robots that can be served automatically according to claim 1, it is characterised in that：The telescopic drive machine
Structure (84) is by L-type pipe (841), compressed spring (842), welding base (843), L-type telescopic rod (844), kinking part (845), rotation
Push-pull rod (846), the second traction rope (847), fixed pulley (848) composition, one end of the L-type pipe (841) and robot body
(3) inner wall is set to above L-type pipe (841) by being welded vertical connection, the compressed spring (842) and passes through welding base (843)
With L-type pipe (841) vertical welding, the L-type telescopic rod (844) is set in shape and one end insertion L-type pipe (841) is internal simultaneously
It is gap-matched, the kinking part (845) is set to L-type telescopic rod (844) upper end left side and by being welded vertical connection, institute
It states rotating sliding bar (846) one end to be flexibly connected with L-type telescopic rod (844) by hinge, the rotating sliding bar (846) is another
End is connect with hydraulic system (85) by articulate, and described second traction rope (847) one end connects with kinking part (845) winding
It connects, the second traction rope (847) other end is intertwined and connected around fixed pulley (848) with rack gear (86).
6. a kind of Song Cai robots that can be served automatically according to claim 1 or 5, it is characterised in that：The hydraulic pressure system
System (85) is made of elliptic wheel (851), hydraulic tube (852), hydraulic cylinder (853), piston block (854), push rod (855), the liquid
Pressure pipe (852) is set to robot shoulder (4) inboard and is penetrated through with fluid pressure type telescopic arm (5) and connected, and the elliptic wheel (851) is set to
It between two hydraulic tubes (852), and is flexibly connected by bolt with robot body (3) inner wall, the hydraulic cylinder (853) is set to
Hydraulic tube (852) inner end and be in integrated molding structure, it is internal and used that the piston block (854) is set to hydraulic cylinder (853)
Cross cooperation, described push rod (855) one end and piston block (854) blow vertical connection by electric welding, push rod (855) other end with
The engagement flexible connection of elliptic wheel (851) edge.
7. a kind of Song Cai robots that can be served automatically according to claim 1 or 5, it is characterised in that：The rack passes
Motivation structure (86) is by the first rack (861), first pulley (862), first pulley frame (863), clump weight (864), spur gear
(865), the second rack (866), second pulley (867), second pulley frame (868), mandril (869) composition, first rack
(861) it is set to spur gear (865) right side side and is flexibly connected by gear teeth meshing, first rack (861) is internally provided with cunning
Rail, the first pulley (862) is in sliding rail and is slidably connected, the first pulley frame (863) and first pulley (862)
Wheel shaft is connected by electric welding, and the clump weight (864) is set to below the first rack (861) and is intertwined and connected by rope, institute
It states the first rack (861) upper end to be intertwined and connected with the second traction rope (847), second rack (866) is set to spur gear (865)
It left side side and is flexibly connected by gear teeth meshing, second rack (866) is internally provided with sliding rail, the second pulley (867)
In sliding rail and it is slidably connected, the second pulley frame (868) is connected with the wheel shaft of second pulley (867) by electric welding,
The mandril (869) is set to above the second rack (866) and is connected by electric welding.
8. a kind of Song Cai robots that can be served automatically according to claim 1, it is characterised in that：The prompt starter motor
Structure (87) is made of swing rod (871), hinge seat (872), startup push rod (873), and the swing rod (871) obliquely sets and it
One end is flexibly connected with hinge seat (872), and described swing rod (871) one end passes through hinge seat (872) and robot body (3) inner wall
Welding, the startup push rod (873) are set to above swing rod (871) other end and are connected by electric welding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810222548.9A CN108527378A (en) | 2018-03-19 | 2018-03-19 | A kind of Song Cai robots that can be served automatically |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810222548.9A CN108527378A (en) | 2018-03-19 | 2018-03-19 | A kind of Song Cai robots that can be served automatically |
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| Publication Number | Publication Date |
|---|---|
| CN108527378A true CN108527378A (en) | 2018-09-14 |
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ID=63484870
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810222548.9A Pending CN108527378A (en) | 2018-03-19 | 2018-03-19 | A kind of Song Cai robots that can be served automatically |
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| Country | Link |
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| CN (1) | CN108527378A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110817418A (en) * | 2019-12-31 | 2020-02-21 | 赛普瑞(天津)科技有限公司 | Novel material snatchs equipment |
| CN111086016A (en) * | 2020-01-17 | 2020-05-01 | 郑州亚瑟智能科技有限公司 | Send dish robot with heat preservation and automatic function of serving |
| JP2020196106A (en) * | 2019-06-04 | 2020-12-10 | Thk株式会社 | Conveyance system |
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Application publication date: 20180914 |