CN110039551B

CN110039551B - Robot for collecting tableware in restaurant in air

Info

Publication number: CN110039551B
Application number: CN201910236092.6A
Authority: CN
Inventors: 白玉玺; 陈勇; 胡红宇; 胡慧娟
Original assignee: University of Shanghai for Science and Technology
Current assignee: University of Shanghai for Science and Technology
Priority date: 2019-03-27
Filing date: 2019-03-27
Publication date: 2022-06-10
Anticipated expiration: 2039-03-27
Also published as: CN110039551A

Abstract

The invention relates to a robot for collecting tableware in a restaurant in the air, which consists of a guide rail mechanism, a lifting and rotating mechanism, a rotary storage system and a manipulator, wherein the upper end of the lifting and rotating mechanism is connected with the guide rail mechanism and can slide along the guide rail mechanism, a rotating platform at the lower end of the lifting and rotating mechanism is connected with a tray rotating shaft device in the rotary storage system, and the manipulator is arranged on the rotary storage system. The invention utilizes the abundant residual space of the ceiling to complete the moving process of the robot, avoids the collision with the coming and going customers due to larger passenger flow, improves the working efficiency and brings more convenience to the restaurant service industry.

Description

Robot for collecting tableware in restaurant in air

Technical Field

The invention relates to a robot for collecting tableware in the air in a restaurant.

Background

In recent years, the field of robots in the world has been changing day by day, and the research field of robots has been gradually progressing from the first high-end industries to the manufacturing and service industries. The robot is closer to our daily life, and a 'kitchen revolution' led by the robot is created, aiming at using the robot to participate in the movement of food materials, the preparation of food and dishes and the collection and cleaning of tableware. Thereby improving the production efficiency and saving the labor resources.

The tableware collecting robot is a robot for automatically collecting tableware on a dining table, and can replace repeated and monotonous manpower and collect the tableware efficiently and conveniently. After investigating the food and beverage service robots on the market, the robots are found to have a common problem that the robots cannot avoid collision with customers while ensuring efficiency.

Disclosure of Invention

The invention provides a robot for collecting tableware in the air in a restaurant, aiming at the problem that a catering service robot cannot avoid collision with coming and going customers while ensuring efficiency.

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

the utility model provides a tray pivot device that is arranged in the rotary warehousing system is connected to rotary platform of lifting and drop rotating mechanism lower extreme, the manipulator is installed on the rotary warehousing system, by guide rail mechanism, lifting and drop rotating mechanism, rotary warehousing system, manipulator constitution, lifting and drop rotating mechanism's upper end and guide rail mechanism are connected, can slide along guide rail mechanism.

The guide rail mechanism comprises a rack guide rail, a guide rail sliding block, a roller with a bearing, a roller shaft, a sliding platform, a guide rail rolling gear, a motor and a bevel gear; the rack guide rail and the guide rail sliding block are connected through a roller with a bearing and a roller shaft, the sliding platform is connected with the guide rail sliding block through a bolt, the motor is connected with the bevel gear through a bolt and fixed below the sliding platform, and the guide rail rolling gear is coaxially connected with the bevel gear and meshed with the rack guide rail, so that the robot is driven to move in the air.

The lifting and rotating mechanism comprises a rotating platform, a telescopic rod, a transmission rod fixer and a connecting rod guide vane; one end of the telescopic rod is fixed on the rotary platform through a bolt, the other end of the telescopic rod is connected with the transmission rod fixer, and the connecting rod guide vane is used for fixing a primary rod, a secondary rod and a tertiary rod of the telescopic rod.

The rotary warehousing system comprises a central turntable structure and a hydraulic lifting platform; the central turntable structure comprises two parallel box body trays, a turntable shell and a tray rotating shaft device are arranged on the box body trays, and storage trays are respectively arranged in three areas where the box body trays are equally divided; the hydraulic lifting platform is installed at the bottom of the box body tray and comprises a platform base, four boosting connecting rods are connected in a crossed mode through two slot pins, one end of each boosting connecting rod is connected with a connecting rod fixer and a tray sliding groove which are fixed on the platform base through the slot pins and a rotating wheel, the other end of each boosting connecting rod is fixed with a lifting platform connecting rod through the slot pins, the lifting platform connecting rods are connected to the lifting platform in a crossed mode through two slot pins and two tray sliding grooves, the other end of each lifting platform connecting rod is connected with the connecting rod fixer and the tray sliding groove which are fixed on the lifting platform through the slot pins and the rotating wheel, a hydraulic propeller is placed on the lifting platform, and the hydraulic propeller is connected with a lifting platform sliding plate through a push rod driver.

The manipulator comprises a large arm, a small arm and a grabbing mechanism; the first mechanical arm connecting piece connected with the piston rod of the large arm is connected with the small arm rod of the small arm, the second mechanical arm connecting piece is connected with the first mechanical arm connecting piece through the small arm wrist guard, and the small arm is connected with the grabbing mechanism through the hand connector.

Compared with the prior art, the invention has the following advantages:

the invention utilizes the abundant residual space of the ceiling to complete the moving process of the robot, avoids the collision with the coming and going customers due to larger passenger flow, improves the working efficiency and brings more convenience to the restaurant service industry.

Drawings

FIG. 1 is a schematic view of the overall structure of an aerial tableware collection robot for a restaurant according to the present invention.

Fig. 2 is a schematic structural diagram of a guide rail mechanism of the restaurant air tableware collecting robot.

FIG. 3 is a schematic structural diagram of a lifting and rotating mechanism of the robot for collecting tableware in the air in a restaurant.

FIG. 4 is a schematic diagram of a rotary warehousing system for a restaurant robot for collecting tableware in the air.

Fig. 5 is a schematic structural diagram of a hydraulic lifting platform of the restaurant air tableware collecting robot.

FIG. 6 is a schematic structural diagram of a robot arm of the robot for collecting tableware in the air in a restaurant.

Detailed Description

The following further describes a specific embodiment of the present invention with reference to the drawings.

As shown in fig. 1, a structural device for a restaurant robot for collecting tableware in the air is composed of a guide rail mechanism 100, a lifting and rotating mechanism 200, a rotary warehousing system 300 and a manipulator 400, wherein the upper end of the lifting and rotating mechanism 200 is connected with the guide rail mechanism 100 and can slide along the guide rail mechanism 100, a rotating platform 201 at the lower end of the lifting and rotating mechanism 200 is connected with a tray rotating shaft device 304 in the rotary warehousing system 300, and the manipulator 400 is installed on the rotary warehousing system 300.

As shown in fig. 2, the guide rail mechanism 100 includes a rack guide rail 101, a guide rail slider 102, a roller 105 with a bearing, a roller shaft 106, a sliding platform 103, a guide rail rolling gear 104, a motor 108, and a bevel gear 107; the rack guide rail 101 and the guide rail sliding block 102 are connected through a roller 105 with a bearing and a roller shaft 106, the sliding platform 103 is connected with the guide rail sliding block 102 through a bolt, the motor 108 and the bevel gear 107 are fixed below the sliding platform 103 through a bolt, and the guide rail rolling gear 104 is coaxially connected with the bevel gear 107 and is meshed with the rack guide rail 101, so that the robot is driven to move in the air.

As shown in fig. 3, the lifting and rotating mechanism 200 includes a rotating platform 201, a telescopic rod 202, a transmission rod fixer 203, and a link guide 204; one end of the telescopic rod 202 is fixed on the rotary platform 201 through bolt connection, the other end is connected with the transmission rod fixer 203, and the connecting rod guide plate 204 is used for fixing a primary rod, a secondary rod and a tertiary rod of the telescopic rod 202.

As shown in fig. 4 and 5, the rotary warehousing system 300 includes a central turntable structure and a hydraulic lifting platform; the central turntable structure comprises two box body trays 302 which are arranged in parallel, a turntable shell 303 and a tray rotating shaft device 304 are arranged on the box body trays 302, and storage trays 301 are respectively arranged in three areas where the box body trays 302 are equally divided; the hydraulic lifting platform is arranged at the bottom of the box body tray 302 and comprises a platform base 314, four boosting connecting rods 310 are connected in a pairwise crossing manner through slot pins 309, one ends of the four boosting connecting rods are connected with a connecting rod fixer 311 and a tray sliding groove 308 which are fixed on the platform base 314 through the slot pins 309 and rotating wheels 313, the other ends of the four boosting connecting rods are fixed with a lifting platform connecting rod 312 through the slot pins 309, the lifting platform connecting rods 312 are connected to a lifting platform 316 in a pairwise crossing manner through the slot pins 309, and the other ends of the lifting platform connecting rods 312 are connected with the connecting rod fixer 311 and the tray sliding groove 308 which are fixed on the lifting platform 316 through the slot pins 309 and the rotating wheels 313; a hydraulic thruster 306 is placed on the lifting platform 316, the hydraulic thruster 306 being connected to the lifting platform sled 307 via a pusher actuator 305.

As shown in fig. 6, the robot 400 includes a large arm 401, a small arm 402, and a gripping mechanism 403; a first robot arm connection 406 to which the piston rod 404 of the upper arm 401 is connected to the lower arm rod 405 of the lower arm 402, a second robot arm connection 407 is connected to the first robot arm connection 406 via a lower arm cuff 409, and the lower arm 402 and the gripper mechanism 403 are connected via a hand connector 408.

The robot of the invention has the following working process:

the guide rail mechanism 100 engaged by the gear and the rack provides stable transmission, and the two roller slide block mechanisms can ensure that the whole robot freely passes through a curve, so that the stability of the whole system is improved. The three-link electric telescopic rod 202 is used for providing enough stable power for the lifting of the rotary warehousing system 300. When the robot arrives at a dining table, the three-link electric telescopic rod 202 lifts the rotary warehousing system 300 to a designated position of the dining table, the containing disc 301 is pushed out from the inside of the rotary warehousing system 300 through the hydraulic propeller 306 to be matched with the mechanical arm 400 to complete tableware collection, and then the containing disc is retracted through the hydraulic propeller 306. At the moment, the dinner plate is stopped on a certain storage plane by the lifting of the hydraulic platform, then the dinner plate is rotated by the central turntable mechanism, and at the moment, a new dinner plate reaches the upper part of the hydraulic platform, and meanwhile, the dinner plate is stored into the storage mechanism. The circular motion and the 270-degree platform are utilized to skillfully realize the filling and replacement of the storage disc 301.

Claims

1. A robot that is used for dining room to collect tableware in air which characterized in that: the automatic loading and unloading device is characterized by comprising a guide rail mechanism (100), a lifting and rotating mechanism (200), a rotary warehousing system (300) and a manipulator (400), wherein the upper end of the lifting and rotating mechanism (200) is connected with the guide rail mechanism (100) and can slide along the guide rail mechanism (100), a rotating platform (201) at the lower end of the lifting and rotating mechanism (200) is connected with a tray rotating shaft device (304) in the rotary warehousing system (300), and the manipulator (400) is installed on the rotary warehousing system (300); the rotary warehousing system (300) comprises a central turntable structure and a hydraulic lifting platform; the central turntable structure comprises two box body trays (302) which are arranged in parallel, a turntable shell (303) and a tray rotating shaft device (304) are arranged on the box body trays (302), and storage trays (301) are respectively arranged in three equally-divided areas of the box body trays (302); the hydraulic lifting platform is arranged at the bottom of a box body tray (302) and comprises a platform base (314), four boosting connecting rods (310) are connected in a pairwise crossing mode through slot pins (309), one ends of the four boosting connecting rods are connected with a connecting rod fixer (311) and a tray sliding groove (308) which are fixed on the platform base (314) through the slot pins (309) and rotating wheels (313), the other ends of the four boosting connecting rods are fixed with a lifting platform connecting rod (312) through the slot pins (309), the lifting platform connecting rod (312) is connected to a lifting platform (316) in a pairwise crossing mode through the slot pins (309), and the other end of the lifting platform connecting rod (312) is connected with the connecting rod fixer (311) and the tray sliding groove (308) which are fixed on the lifting platform (316) through the slot pins (309) and the rotating wheels (313); a hydraulic propeller (306) is arranged on the lifting platform (316), and the hydraulic propeller (306) is connected with a lifting platform sliding plate (307) through a push rod driver (305).

2. The robot for collecting dishes in a restaurant in the air according to claim 1, wherein: the guide rail mechanism (100) comprises a rack guide rail (101), a guide rail sliding block (102), a roller (105) with a bearing, a roller shaft (106), a sliding platform (103), a guide rail rolling gear (104), a motor (108) and a bevel gear (107); the rack guide rail (101) is connected with the guide rail sliding block (102) through a roller (105) with a bearing and a roller shaft (106), the sliding platform (103) is connected with the guide rail sliding block (102) through a bolt, a motor (108) and a bevel gear (107) are connected and fixed below the sliding platform (103) through a bolt, and a guide rail rolling gear (104) is coaxially connected with the bevel gear (107) and meshed with the rack guide rail (101) so as to drive the robot to move in the air.

3. The robot for collecting dishes in a restaurant in the air according to claim 1, wherein: the lifting and rotating mechanism (200) comprises a rotating platform (201), a telescopic rod (202), a transmission rod fixer (203) and a connecting rod guide vane (204); one end of the telescopic rod (202) is fixed on the rotary platform (201) through a bolt, the other end of the telescopic rod is connected with the transmission rod fixer (203), and the connecting rod guide vane (204) is used for fixing a primary rod, a secondary rod and a tertiary rod of the telescopic rod (202).

4. The robot for collecting dishes in a restaurant in the air according to claim 1, wherein: the manipulator (400) comprises a large arm (401), a small arm (402) and a grabbing mechanism (403); a first mechanical arm connecting piece (406) connected with a piston rod (404) of the large arm (401) is connected with a small arm rod (405) of the small arm (402), a second mechanical arm connecting piece (407) is connected with the first mechanical arm connecting piece (406) through a small arm wrist guard (409), and the small arm (402) and the grabbing mechanism (403) are connected through a hand connector (408).