CN110394815A - One kind sending dish service robot - Google Patents
One kind sending dish service robot Download PDFInfo
- Publication number
- CN110394815A CN110394815A CN201910815166.1A CN201910815166A CN110394815A CN 110394815 A CN110394815 A CN 110394815A CN 201910815166 A CN201910815166 A CN 201910815166A CN 110394815 A CN110394815 A CN 110394815A
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- China
- Prior art keywords
- wheel
- cursor
- chassis
- speed reducer
- bearing
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0004—Braking devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
Abstract
The invention discloses one kind to send dish service robot, including walking mechanism, rotational structure and lifting mechanism, and the rotational structure is mounted on above walking mechanism, and the lifting mechanism is mounted at the top of rotational structure；The walking mechanism includes chassis, driving device, transfer, wheel, the wheel is mounted on the outside of chassis, and there are four the wheel settings, panel is provided between wheel on the outside of the chassis, the driving device and transfer are located inside chassis, driving device uses bi-motor rear-guard mode, and the present invention relates to service robot technical fields.This send dish service robot, it may be implemented manually to send dish service, the labor intensity for greatly reducing attendant, compare other similar products, and this robot has the characteristics that structure is simple, easily controllable, cost is not high, under(-)chassis is made of fashioned iron welding, intensity is high, and stability is good, and hubcap is installed on wheel hub, axle is fixed with bolt, axial float can be prevented.
Description
Technical field
The present invention relates to service robot technical field, specially one kind send dish service robot.
Background technique
The problem of aging trend of Chinese society is inevitable at present, labor shortage is increasingly prominent, especially exists
Service industry, manpower shortage have become normality.Catering industry belongs to typical service industry, and attendant's may take into account
The service of several tables is especially passing the dish stage, ready-made vegetable is being sent to dining table, the operation irregularity of attendant is heavy.By
It is of less demanding for technical capability in this work, therefore the wages treatment of attendant is not generally high, and with population old-age group
Change aggravation, practitioner is reduced increasingly.And this work but it is indispensable, and there is no very good solution side on Vehicles Collected from Market
Case.
Summary of the invention
(1) the technical issues of solving
In view of the deficiencies of the prior art, the present invention provides one kind to send dish service robot, solves vegetable and send to dining table,
The heavy problem of the operation irregularity of attendant.
(2) technical solution
In order to achieve the above object, the present invention is achieved by the following technical programs: one kind sending dish service robot, including
Walking mechanism, rotational structure and lifting mechanism, the rotational structure are mounted on above walking mechanism, and the lifting mechanism is mounted on
At the top of rotational structure；
The walking mechanism includes chassis, driving device, transfer, wheel, and the wheel is mounted on the outside of chassis, and
There are four the wheel settings, and panel, the driving device and transfer are provided between wheel on the outside of the chassis
Positioned inside chassis, driving device uses bi-motor rear-guard mode, and direct current generator is direct-connected with worm decelerating machine, and worm decelerating machine is logical
It crosses mounting plate to be fixed by bolts on chassis, the output shaft of worm decelerating machine is set as the drive shaft of wheel, is mounted on wheel
On wheel hub；
The rotational structure includes rotating platform and storage cabinet, and the rotating platform includes motor and speed reducer, described
Rotating platform is fixed on chassis between two parties by bolt, and the storage cabinet is mounted on rotating platform, the storage cabinet and
Rotating platform is bolted, and the storage box house is provided with storage unit, for storing vegetable.
The lifting mechanism include mounting base, bearing assembly, stepper motor speed reducer, cursor one, cursor two and
Pallet component, the lifting mechanism are mounted on storage cabinet, and the mounting base is connect by flange with storage cabinet, the peace
Stepper motor speed reducer and bearing assembly are installed on dress seat, the stepper motor speed reducer is centrally mounted in mounting base, institute
It states stepper motor speed reducer and bearing assembly and is fixedly connected by bolt with mounting base, the output shaft of the stepper motor speed reducer
It is connect with bearing assembly, the transmission shaft of the stepper motor speed reducer extends in the bearing inside bearing assembly, the transmission
The both-side ends of axis are connected by key with cursor one and cursor two respectively, and the end of the transmission shaft is kept off with shaft end respectively
Circle is fixed, and the cursor one and two top of cursor are connect with pallet component.
Preferably, the transfer includes steering engine, swing rod, long connecting rod, oscillating bearing, short connecting rod, hinged-support, fixation
Seat, axle, shaft end ring and steering engine mounting base, the steering engine are mounted on chassis by steering engine mounting base, the swing rod and rudder
Machine output shaft is connected, and the oscillating bearing is mounted on swing rod two sides, and one end of the long connecting rod is connect with oscillating bearing, described
The other end of long connecting rod is connect with short connecting rod, is connected between the short connecting rod and hinged-support by pin shaft, and the hinged-support passes through
Bolt and fixing seat are fixedly connected with chassis, the axle fitting connection of the short connecting rod and wheel, and the wheel is front-wheel.
Preferably, the end of the axle is connect with short connecting rod fitting, the wheel hub phase other than the axle end with wheel
Even, deep groove ball bearing is installed, and the deep groove ball bearing is arranged in the wheel hub of wheel between the axle and short connecting rod
Two sides, the shaft end ring are set in the one end of axle far from wheel hub.
Preferably, the cursor one and cursor two are located at stepper motor speed reducer two sides, and are symmetrical arranged, institute
It states cursor one and there are two cursor two is respectively provided with, described one one end of cursor and stepper motor speed reducer driving shaft passes through key
Connection, the other end of the cursor one are connect with pallet component by pin shaft.
Preferably, the bearing assembly includes deep groove ball bearing two and oiliness bearing, the deep groove ball bearing two and stepping
Motor reducer transmission shaft is connected with cursor one, and described two one end of cursor is connected with the oiliness bearing of bearing assembly, described
The other end of cursor two is connect with pallet by pin shaft, the cursor one and cursor two and pallet component and bearing assembly
Form four-bar linkage.
Preferably, the pallet component includes pallet and bracket, and the bracket is arranged symmetrically along tray center face, the support
Disk is connected with bracket using welding or screw.
Preferably, the panel is one layer of thin plate, and the panel is bolted on chassis.
Preferably, bearing gland is installed on the wheel hub of the wheel, and is fixed axle and wheel hub using bolt.
(3) beneficial effect
The present invention provides one kind to send dish service robot.Have it is following the utility model has the advantages that
This send dish service robot, send dish service robot to be in kitchen armed state, pallet lifts at this time.Kitchen vegetable
On being placed on pallet and store after the completion of product in cabinet, after robot receives instruction, starts direct current generator, read by encoder
The turnning circle of wheel, completion reach first turning point after setting fixing turn, and steering engine starting drives swing rod to turn an angle, opens
Begin to execute turning action, encoder continues to count steering engine after reading completion sets fixing turn and returns just, starts from first
Turning point stops, if dining table is located at the side of robot to second turning point until reaching specified dining table movable motor band-type brake
Face, the motor work inside rotating platform drive storage cabinet and lifting mechanism and the rotation of the pallet component at top, stepping electricity
Cursor one is driven to rotate certain corner after machine starting, to reduce pallet height, storage cabinet itself can also store vegetable,
The vegetable of same table guest can be stored here, be sent to the table together, may be implemented manually to send dish service, greatly reduce service
The labor intensity of personnel, compare other similar products, and this robot is with structure is simple, easily controllable, cost is not high
Feature, under(-)chassis are made of fashioned iron welding, and intensity is high, and stability is good, and hubcap is installed on wheel hub, is consolidated axle with bolt
It is fixed, axial float can be prevented, panel is one layer of thin plate, is fixed by bolts on chassis, can install secondary open additional on panel
The equipment of hair.
Detailed description of the invention
Fig. 1 is the whole structural schematic diagram of the present invention；
Fig. 2 is the structural schematic diagram that walking mechanism of the present invention is overlooked；
Fig. 3 is the structural schematic diagram of walking mechanism transfer of the present invention；
Fig. 4 is the positive structural schematic diagram of robot of the present invention；
Fig. 5 is the structural schematic diagram of robot side of the present invention
In figure: 10 walking mechanisms, 11 transfers, 111 deep groove ball bearings, 112 axles, 113 shaft end rings, 114 short companies
Bar, 115 hinged-supports, 116 fixing seats, 117 long connecting rods, 118 steering engine mounting bases, 119 steering engines, 120 swing rods, 12 panels, 13 chassis,
14 driving devices, 15 wheels, 20 rotational structures, 21 rotating platforms, 22 storage cabinets, 30 lifting mechanisms, 31 mounting bases, 32 bearings
Component, 33 stepper motor speed reducers, 34 cursors one, 35 cursors two, 36 pallet components.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Please refer to Fig. 1-5, the present invention provides a kind of technical solution: one kind send dish service robot, including walking mechanism 10,
Rotational structure 20 and lifting mechanism 30, rotational structure 20 are mounted on 10 top of walking mechanism, and lifting mechanism 30 is mounted on rotation knot
20 top of structure；
Walking mechanism 10 includes chassis 13, driving device 14, transfer 11, wheel 15, and wheel 15 is mounted on chassis 13
Outside, and there are four the settings of wheel 15, panel 12, driving device 14 and steering are provided on the outside of chassis 13 between wheel 15
Device 11 is located inside chassis 13, and driving device 14 uses bi-motor rear-guard mode, and direct current generator is direct-connected with worm decelerating machine, snail
Bar speed reducer is fixed by bolts on chassis 13 by mounting plate, and the output shaft of worm decelerating machine is set as the drive shaft of wheel,
It is mounted on the wheel hub of wheel 15；
Rotational structure 20 includes rotating platform 21 and storage cabinet 22, and rotating platform 21 includes motor and speed reducer, rotation
Platform 21 is fixed on chassis 13 between two parties by bolt, and storage cabinet 22 is mounted on rotating platform 21, storage cabinet 22 and rotation
Turn platform 21 to be bolted, storage cabinet 22 is internally provided with storage unit, for storing vegetable；
Lifting mechanism 30 includes mounting base 31, bearing assembly 32, stepper motor speed reducer 33, cursor 1, cursor
2 35 and pallet component 36, lifting mechanism 30 is mounted on storage cabinet 22, and mounting base 31 passes through flange and storage cabinet
22 connect, and stepper motor speed reducer 33 and bearing assembly 32 are equipped in mounting base 31, and stepper motor speed reducer 33 is installed between two parties
In mounting base 31, stepper motor speed reducer 33 and bearing assembly 32 are fixedly connected by bolt with mounting base 31, stepper motor
The output shaft of speed reducer 33 is connect with bearing assembly 32, and the transmission shaft of stepper motor speed reducer 33 extends to inside bearing assembly 32
Bearing in, the both-side ends of transmission shaft are connected by key with cursor 1 and cursor 2 35 respectively, and the end of transmission shaft
Portion is fixed with shaft end ring respectively, and cursor 1 and 2 35 top of cursor are connect with pallet component 36.
Transfer includes steering engine 119, swing rod 120, long connecting rod 117, oscillating bearing, short connecting rod 114, hinged-support 115, consolidates
Reservation 116, axle 112, shaft end ring 113 and steering engine mounting base 118, steering engine 119 are mounted on chassis by steering engine mounting base 118
On 13, swing rod 120 is connected with steering engine output shaft, and oscillating bearing is mounted on 120 two sides of swing rod, one end and pass of long connecting rod 117
Bearings connection, the other end of long connecting rod 117 are connect with short connecting rod 114, pass through pin shaft between short connecting rod 114 and hinged-support 115
Connection, hinged-support 115 are fixedly connected by bolt and fixing seat 116 with chassis 13, the axle 112 of short connecting rod 114 and wheel 15
Fitting connection, and wheel 15 is front-wheel.
The end of axle 112 is connect with 114 fitting of short connecting rod, is connected other than 112 end of axle with the wheel hub of wheel 15, vehicle
Deep groove ball bearing 111 is installed, and deep groove ball bearing 111 is arranged in the wheel hub of wheel 15 between axis 112 and short connecting rod 114
Two sides, shaft end ring 113 are set in the one end of axle 112 far from wheel hub.
Cursor 1 and cursor 2 35 are located at 33 two sides of stepper motor speed reducer, and are symmetrical arranged, cursor
One 34 and there are two cursor 2 35 is respectively provided with, one 34 one end of cursor and 33 transmission shaft of stepper motor speed reducer pass through key company
It connects, the other end of cursor 1 is connect with pallet component 36 by pin shaft.
Bearing assembly 32 includes deep groove ball bearing two and oiliness bearing, and deep groove ball bearing two and stepper motor speed reducer 33 pass
Moving axis is connected with cursor 1, and 2 35 one end of cursor is connected with the oiliness bearing of bearing assembly 32, cursor 2 35 it is another
One end is connect with pallet by pin shaft, and cursor 1 and cursor 2 35 and pallet component 36 and bearing assembly 32 form plane
Four-bar mechanism.
Pallet component 36 includes pallet and bracket, and bracket is arranged symmetrically along tray center face, and pallet and bracket are using welding
Or screw connection.
Panel 12 is one layer of thin plate, and panel 12 is bolted on chassis 13.
Bearing gland is installed on the wheel hub of wheel 15, and is fixed axle and wheel hub using bolt.
In use, dish service robot is sent to be in kitchen armed state, pallet is lifted at this time.It is put after the completion of kitchen dishes
On pallet and in storage box body, after robot receives instruction, starts direct current generator, the turning collar of wheel is read by encoder
It counts, completion reaches first turning point after setting fixing turn, and steering engine starting drives swing rod to turn an angle, and it is dynamic to start execution turning
To make, encoder continues to count steering engine after reading completion sets fixing turn and returns just, starts from first turning point to second turning point,
Stop until reaching specified dining table movable motor band-type brake, if dining table is located at the side of robot, the electricity inside rotating platform 21
Machine work drives storage cabinet 22 and lifting mechanism 30 and the pallet component at top 36 to rotate, and drives after stepper motor starting
Cursor one rotates certain corner, to reduce pallet height, storage cabinet itself can also store vegetable, can be by same table visitor
The vegetable of people is stored here, being sent to the table together；
The short connecting rod 114 of transfer transfer 11 is connect with the axle fitting of front-wheel, and steering engine swing makes to put when steering
Bar generates the corner of certain amplitude, drives long connecting rod and short connecting rod movement, axle driven wheel is made to generate corresponding corner, realize
Turning function, panel are one layer of thin plates, are fixed by bolts on chassis, the equipment that can install secondary development additional on panel.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions.By sentence " element limited including one ..., it is not excluded that
There is also other identical elements in the process, method, article or apparatus that includes the element ".
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (8)
1. one kind send dish service robot, including walking mechanism (10), rotational structure (20) and lifting mechanism (30), feature exists
In: the rotational structure (20) is mounted on above walking mechanism (10), and the lifting mechanism (30) is mounted on rotational structure (20)
Top；
The walking mechanism (10) includes chassis (13), driving device (14), transfer (11), wheel (15), the wheel
(15) it is mounted on the outside of chassis (13), and there are four the wheel (15) settings, is located at wheel (15) on the outside of the chassis (13)
Between be provided with panel (12), it is internal that the driving device (14) and transfer (11) are located at chassis (13), driving device
(14) bi-motor rear-guard mode is used, direct current generator is direct-connected with worm decelerating machine, and worm decelerating machine is solid with bolt by mounting plate
It is scheduled on chassis (13), the output shaft of worm decelerating machine is set as the drive shaft of wheel, is mounted on the wheel hub of wheel (15)；
The rotational structure (20) include rotating platform (21) and storage cabinet (22), the rotating platform (21) include motor and
Speed reducer, the rotating platform (21) are fixed on chassis (13) between two parties by bolt, and the storage cabinet (22) is mounted on rotation
Turn on platform (21), the storage cabinet (22) is bolted with rotating platform (21), and the storage cabinet (22) is internal
It is provided with storage unit；
The lifting mechanism (30) includes mounting base (31), bearing assembly (32), stepper motor speed reducer (33), cursor one
(34), cursor two (35) and pallet component (36), the lifting mechanism (30) are mounted in storage cabinet (22), the peace
Dress seat (31) by flange with store cabinet (22) connect, be equipped on the mounting base (31) stepper motor speed reducer (33) and
Bearing assembly (32), the stepper motor speed reducer (33) are centrally mounted on mounting base (31), the stepper motor speed reducer
(33) it is fixedly connected by bolt with mounting base (31) with bearing assembly (32), the output shaft of the stepper motor speed reducer (33)
It is connect with bearing assembly (32), the transmission shaft of the stepper motor speed reducer (33) extends to the internal bearing of bearing assembly (32)
In, the both-side ends of the transmission shaft are connected by key with cursor one (34) and cursor two (35) respectively, and the transmission
The end of axis is fixed with shaft end ring respectively, at the top of the cursor one (34) and cursor two (35) even with pallet component (36)
It connects.
2. one kind according to claim 1 send dish service robot, it is characterised in that: the transfer includes steering engine
(119), swing rod (120), long connecting rod (117), oscillating bearing, short connecting rod (114), hinged-support (115), fixing seat (116), axle
(112), shaft end ring (113) and steering engine mounting base (118), the steering engine (119) are mounted on bottom by steering engine mounting base (118)
On disk (13), the swing rod (120) is connected with steering engine output shaft, and the oscillating bearing is mounted on swing rod (120) two sides, described
One end of long connecting rod (117) is connect with oscillating bearing, and the other end of the long connecting rod (117) is connect with short connecting rod (114), described
It is connect between short connecting rod (114) and hinged-support (115) by pin shaft, the hinged-support (115) passes through bolt and fixing seat (116)
It is fixedly connected with chassis (13), the short connecting rod (114) connect with axle (112) fitting of wheel (15), and the wheel
It (15) is front-wheel.
3. one kind according to claim 2 send dish service robot, it is characterised in that: the end of the axle (112) with
The connection of short connecting rod (114) fitting, is connected other than axle (112) end with the wheel hub of wheel (15), the axle (112) and
It is equipped between short connecting rod (114) deep groove ball bearing (111), and the deep groove ball bearing (111) is arranged in wheel (15)
Wheel hub two sides, the shaft end ring (113) be set in axle (112) far from wheel hub one end.
4. one kind according to claim 1 send dish service robot, it is characterised in that: the cursor one (34) and rotation
Arm two (35) is located at stepper motor speed reducer (33) two sides, and is symmetrical arranged, the cursor one (34) and cursor two
(35) there are two being respectively provided with, described cursor one (34) one end is connected by key with stepper motor speed reducer (33) transmission shaft, institute
The other end for stating cursor one (34) is connect with pallet component (36) by pin shaft.
5. one kind according to claim 4 send dish service robot, it is characterised in that: the bearing assembly (32) includes deep
Ditch ball bearing two and oiliness bearing, the deep groove ball bearing two and stepper motor speed reducer (33) transmission shaft and cursor one (34)
Be connected, described cursor two (35) one end is connected with the oiliness bearing of bearing assembly (32), the cursor two (35) it is another
End is connect with pallet by pin shaft, the cursor one (34) and cursor two (35) and pallet component (36) and bearing assembly
(32) four-bar linkage is formed.
6. one kind according to claim 1 send dish service robot, it is characterised in that: the pallet component (36) includes support
Disk and bracket, the bracket are arranged symmetrically along tray center face, and the pallet is connected with bracket using welding or screw.
7. one kind according to claim 1 send dish service robot, it is characterised in that: the panel (12) is one layer thin
Plate, and the panel (12) is bolted on chassis (13).
8. one kind according to claim 1 send dish service robot, it is characterised in that: pacify on the wheel hub of the wheel (15)
Axle and wheel hub are fixed equipped with bearing gland, and using bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910815166.1A CN110394815B (en) | 2019-08-30 | 2019-08-30 | Vegetable feeding service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910815166.1A CN110394815B (en) | 2019-08-30 | 2019-08-30 | Vegetable feeding service robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110394815A true CN110394815A (en) | 2019-11-01 |
| CN110394815B CN110394815B (en) | 2023-09-19 |
Family
ID=68329551
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910815166.1A Active CN110394815B (en) | 2019-08-30 | 2019-08-30 | Vegetable feeding service robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110394815B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110833290A (en) * | 2019-12-12 | 2020-02-25 | 广东智源机器人科技有限公司 | Method and device for transmitting dishes and storage medium |
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| KR20100110143A (en) * | 2009-04-02 | 2010-10-12 | 주식회사 유진로봇 | Robot system for restaurant serving |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN110394815B (en) | 2023-09-19 |
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