CN110834339A - Dining room food delivery robot - Google Patents
Dining room food delivery robot Download PDFInfo
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- CN110834339A CN110834339A CN201911071455.1A CN201911071455A CN110834339A CN 110834339 A CN110834339 A CN 110834339A CN 201911071455 A CN201911071455 A CN 201911071455A CN 110834339 A CN110834339 A CN 110834339A
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- linear guide
- guide rails
- guide rail
- comb teeth
- robot
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- 235000013305 food Nutrition 0.000 title claims abstract description 11
- 238000007599 discharging Methods 0.000 claims abstract description 23
- 230000005291 magnetic effect Effects 0.000 claims description 37
- 230000007246 mechanism Effects 0.000 claims description 22
- 230000003287 optical effect Effects 0.000 claims description 17
- 239000000463 material Substances 0.000 claims description 16
- 230000005294 ferromagnetic effect Effects 0.000 claims description 6
- 239000000696 magnetic material Substances 0.000 claims description 6
- 239000002184 metal Substances 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 4
- 230000000712 assembly Effects 0.000 claims description 3
- 238000000429 assembly Methods 0.000 claims description 3
- 235000012054 meals Nutrition 0.000 claims description 2
- 235000003166 Opuntia robusta Nutrition 0.000 description 6
- 244000218514 Opuntia robusta Species 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000001520 comb Anatomy 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Classifications
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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
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- 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
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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
- B25J11/008—Manipulators for service tasks
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- 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
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Non-Mechanical Conveyors (AREA)
Abstract
The invention discloses a robot for delivering food in a restaurant. The conveying robot comprises guide rails and a conveying robot, wherein the guide rails are divided into linear guide rails, turning discs and unloading comb teeth, the linear guide rails are laid on the conveying ground, the turning discs are arranged among the linear guide rails, the linear guide rails are composed of strip-shaped bottom plates and two strip-shaped guide rails which are arranged on the strip-shaped bottom plates in parallel, the turning discs are composed of circular bottom plates and arc guide rails which are arranged on the circular bottom plates in concentric circles, and intersection turning is carried out through the matching of the turning discs and the conveying robot so as to realize the conveying among different linear guide rails; the linear guide rail is provided with a discharging frame, and discharging comb teeth are arranged on the discharging frame. The invention has simple and effective structure, the robot does not need to consider the steering problem, the conveying time is effectively reduced, the side turning rate caused by the differential speed of the wheels is reduced, the practicability is high, and the invention can adapt to different application occasions.
Description
Technical Field
The invention belongs to the field of logistics transportation, and particularly relates to a restaurant food delivery robot for material transportation based on a track, which is used for different occasions such as automatic food delivery in restaurants and the like.
Background
With the continuous improvement of the living standard of people in China and the continuous progress of Internet science and technology, the proportion of online shopping in consumption is continuously increased, the pressure of logistics sorting is increased day by day, and the defects of high cost, low efficiency, easy fatigue and the like exist in worker sorting, so that a restaurant transportation system is very necessary to be designed to finish the increasing sorting and transportation of restaurants.
Disclosure of Invention
The invention aims to overcome the defects that the cost of the existing human resources is high, people can fatigue for long-time repeated labor and the like, and provides a dining room meal delivery robot which can finish the transportation of dinner plates from a starting point to a target point, solves the problems of high manual transportation cost, fatigue and the like, has higher efficiency and lower cost compared with the traditional robot transportation, and improves the practicability of the robot.
In order to achieve the purpose, the technical scheme adopted by the invention comprises the following steps:
the invention comprises a guide rail and a conveying robot, wherein the guide rail is divided into a linear guide rail, a turning disc and unloading comb teeth, the linear guide rail is laid on the conveying ground, the turning disc is arranged between the linear guide rails, the linear guide rail is composed of a strip-shaped bottom plate and two strip-shaped guide rails which are arranged on the strip-shaped bottom plate in parallel, the turning disc is composed of a circular bottom plate and two arc guide rails which are arranged on the circular bottom plate in a concentric circle, and the turning disc and the conveying robot are matched to turn at an intersection to realize the conveying between different linear guide rails; the linear guide rail is provided with a discharging frame, and discharging comb teeth are arranged on the discharging frame.
The linear guide rail is provided with an inner concave arc groove at the end part of the strip-shaped bottom plate at the joint of the linear guide rail and the turning disc, and the inner concave arc groove and the circular bottom plate are identical in diameter.
The conveying robot comprises a motion chassis mechanism, material carrying comb teeth and a lifting mechanism; the motion chassis mechanism comprises a magnetic panel, a driving wheel assembly arranged in the middle of the magnetic panel and four supporting wheel assemblies arranged at four corners of the magnetic panel; the driving wheel assembly comprises a driving wheel and a wheel base, the driving wheel is rotatably supported and arranged in the center of the magnetic panel through the wheel base, a central through groove is formed in the center of the magnetic panel, and the driving wheel penetrates through the central through groove and is embedded between two guide rails of the linear guide rail/turning disc and is in contact connection with the bottom plate; the supporting wheel assembly comprises a supporting wheel, a limiting fork, fixing blocks, a magnetic panel, sliding blocks, optical axes and springs, the bottoms of the two fixing blocks are fixed on the magnetic panel, the tops of the two fixing blocks are connected and installed with the two parallel optical axes, the sliding blocks are movably sleeved on the two optical axes, the springs are sleeved on each optical axis between the sliding blocks and the fixing blocks, and the sliding blocks move horizontally and limitedly along the optical axes under the action of the springs; the bottom surface of the sliding block is hinged with the upper end of the limiting fork, the lower part of the limiting fork is hinged with a supporting wheel, the whole body formed by the supporting wheel and the limiting fork horizontally rotates relative to the sliding block, an angle through groove is formed in the surface of the magnetic panel between the two fixed blocks, and the supporting wheel penetrates through the angle through groove and then is in contact connection with the upper surfaces of the two guide rails of the linear guide rail/the turning disc; the lifting mechanism comprises material-carrying comb teeth, a track sleeve, a push rod, a pulley, a cam and a motor; the shell is installed on the magnetism panel, and the motor is fixed at the bottom surface in the shell, and motor output shaft and cam synchronous connection, cam and pulley contact connection, the lower extreme of pulley and push rod is articulated, and the push rod upper end is worn out the shell after with carry the material broach rigid coupling, and the suit is in the track sleeve after wearing out the shell on the push rod upper end, and the track sleeve is fixed in the shell top surface.
The limiting fork is inverted U-shaped, the upper end of the limiting fork is hinged to the sliding block, and the lower end of the limiting fork extends downwards to the lowest point of the supporting wheel, so that the lower end of the limiting fork is just positioned on the sides of the two guide rails of the linear guide rail/the turning disc.
The shell covers the magnetic panel, so that the motion chassis mechanism is packaged in a closed space formed by the shell and the magnetic panel.
In a specific implementation, the shell is internally provided with an electric element.
The magnetic panel of the motion chassis mechanism is made of a magnetic material, the linear guide rail/the turning disc is made of ferromagnetic metal, and the magnetic material and the ferromagnetic metal are mutually attracted and matched.
The material-loading comb teeth and the unloading comb teeth are arranged in the same comb teeth and have the same size, and the tooth width of the comb teeth is smaller than the width of the tooth gaps.
The invention has the beneficial effects that:
the device has simple mechanical structure, can realize all actions of the conveying robot by only two motors, and can realize the steering of the conveying robot by only one motor at a turning position.
The conveying robot is placed on the guide rail to move, the robot does not need to consider the steering problem, and only needs to unload materials after reaching a target point.
The reversing mode of the conveying robot at the turning junction position can change the disc before the conveying robot starts to form a track from a starting point to a terminal point, the conveying robot only needs to move forward at a maximum and reasonable speed, and the conveying time can be effectively reduced compared with a moving platform on the ground.
The conveying robot adopts a mode of four-wheel independent support and single-wheel drive, and reduces the side turning rate caused by the differential speed of the wheels in the turning process. When parking, more accurate positioning can be obtained through the single-wheel drive relative to the multi-wheel drive.
The use is carried the material broach and is unloaded the broach cooperation and can carry out the operation of unloading automatically, reduces because workman careless not wasted time of unloading, raises the efficiency.
In conclusion, the automatic unloading system can transport the dinner plate quickly and unload the dinner plate automatically, and is simple in structure, convenient to manufacture, high in practicability and suitable for different application occasions.
Drawings
Fig. 1 is a schematic view of the general structure of the transportation system of the present invention.
Fig. 2 is a schematic structural view of a variation of the track of the transport rail of the present invention.
FIG. 3 is a schematic structural diagram of a moving chassis mechanism of a transfer robot according to the present invention
Fig. 4 is a schematic structural view of the lifting mechanism of the transfer robot of the present invention.
Fig. 5 is a schematic view of the internal structure of the housing of the transfer robot according to the present invention.
Fig. 6 is a schematic view of the transfer robot fork and linear guide rail of the present invention.
Fig. 7 is a schematic diagram of the conveying robot fork and the turning turntable in cooperation.
In the figure: the device comprises unloading comb teeth 1, a linear guide rail 2, a conveying robot 3, a turning rotary table 4, a turning pivot 5, an arc 6, a wheel base 15, a supporting wheel 7, a limiting fork 8, a fixed block 9, a magnetic panel 10, a sliding block 11, an optical axis 12, a spring 13, a driving wheel 14, loading comb teeth 16, a track sleeve 17, a push rod 18, a pulley 19, a cam 20, a motor 21, a shell 22 and an electric element 23.
Detailed Description
The invention is further illustrated by the following figures and examples.
As shown in fig. 1, the system for concrete implementation comprises a guide rail and a conveying robot, the guide rail is divided into a linear guide rail 2, a turning disc 4 and discharging comb teeth 1, the linear guide rail 2 is laid on the conveying ground, the turning disc 4 is arranged between the linear guide rails 2, as shown in fig. 2, the linear guide rail 2 is composed of a strip-shaped bottom plate and two strip-shaped guide rails which are arranged on the strip-shaped bottom plate in parallel, the turning disc 4 is composed of a circular bottom plate and two arc guide rails which are arranged on the circular bottom plate in a concentric circle manner, the guide rails are fixedly connected to the bottom plate, the distance between the two arc guide rails is the same as that between the two strip-shaped guide rails, the two arc guide rails and the two strip-shaped guide rails can be in tangent fit butt joint, and the intersection is turned by matching the; the guide rail is laid in a working environment, and does not interfere with the movement of personnel as much as possible.
The linear guide rail 2 at the position of the transportation target point is provided with a discharging frame, discharging comb teeth 1 are arranged on the discharging frame, and the discharging comb teeth 1 are used for matching with the loading comb teeth 16 to complete discharging of the materials after the moving robot reaches the transportation target point.
The turning turntable is used for switching the conveying robot among different straight lanes so as to realize transportation from a starting point to a target point. The guide rail on the turning disc 4 is arranged along the circular arc 6 which is close to the central angle of 1/4, in order to prevent the dead block between the limiting fork 8 and the turning disc 4 in the turning process, two movable degrees of freedom are added to the four supporting wheels 7, the degrees of freedom are respectively rotation in the direction perpendicular to the plane of the track and sliding of the conveying robot 3 in the moving direction, and when the track passes through the turning disc 4, smooth passing bending of the conveying system is completed through the matching of the two degrees of freedom.
The turning rotary table 4 completes the orbital transfer motion before the conveying robot 3 approaches, or completes the orbital transfer motion of all rotary tables before the conveying robot 3 departs, so as to construct an orbit from a starting point to a target point.
The linear guide rail 2 is provided with an inner concave arc groove at the end part of the strip-shaped bottom plate at the joint part with the turning disc 4, and the inner concave arc groove and the circular bottom plate are identical in diameter. Namely, the seamless connection is realized between the tail end of the straight flat plate 2 and the tail end of the guide rail and the turning disc 4, and the rotation of the disc is not limited while the seamless connection is realized.
The conveying robot comprises a moving chassis mechanism, material carrying comb teeth 16 and a lifting mechanism; the motion chassis mechanism is used for completing the movement of the conveying robot 3 on the guide rail, the material loading comb teeth 1 and the unloading comb teeth 16 are combined to complete the unloading of the dinner plate, and the lifting mechanism is used for controlling the motion of the material loading comb teeth 16, so that the conveying robot 3 can complete the unloading operation under the condition of no human intervention.
As shown in fig. 3, the motion chassis mechanism comprises a magnetic panel 10, a driving wheel assembly arranged in the middle of the magnetic panel 10, and four supporting wheel assemblies arranged at four corners of the magnetic panel 10; comprises four supporting wheels 7 with two degrees of freedom and a driving wheel 14 with driving capability.
The driving wheel assembly comprises a driving wheel 14 and a wheel base 15, the driving wheel 14 is rotatably supported and installed in the center of the magnetic panel 10 through the wheel base 15, a central rectangular through groove is formed in the center of the magnetic panel 10, and the driving wheel 14 penetrates through the central through groove and is embedded between the two guide rails of the linear guide rail 2/the turning disc 4 and is in contact connection with the bottom plate; the driving wheel 14 is externally provided with a friction wheel for mutual pressing friction with the bottom plate of the linear guide rail 2/turning disc 4, thereby realizing the movement of the transfer robot 3. In a specific embodiment, the drive wheels 14 are operatively connected to a drive motor drive source.
The supporting wheel assembly comprises a supporting wheel 7, a limiting fork 8, fixing blocks 9, a magnetic panel 10, a sliding block 11, optical axes 12 and springs 13, the bottoms of the two fixing blocks 9 are fixed at the corners of the magnetic panel 10, the tops of the two fixing blocks 9 are connected and installed with the two parallel optical axes 12, the sliding block 11 is movably sleeved on the two optical axes 12, the sliding block 11 is provided with two through holes for movably penetrating the optical axes 12, each optical axis 12 is sleeved with a spring 13 between the sliding block 11 and the fixing block 9, two ends of each spring 13 are respectively connected to the sliding block 11 and the fixing block 9, the total number of the springs 13 is four, and the sliding block 11 moves horizontally and limitedly along the optical axes 12 under the action; the bottom surface of a sliding block 11 is hinged with the upper end of a limiting fork 8, a hinged rotating shaft is vertically arranged, the lower part of the limiting fork 8 is hinged with a supporting wheel 7, the whole body formed by the supporting wheel 7 and the limiting fork 8 horizontally rotates relative to the sliding block 11, a circular angle through groove is formed in the surface of a magnetic panel 10 between two fixed blocks 9, and the supporting wheel 7 penetrates through the angle through groove and then is in contact connection with the upper surfaces of two guide rails of a linear guide rail 2/a turning disc 4;
as shown in fig. 4 and 5, the lifting mechanism comprises a material carrying comb 16, a track sleeve 17, a push rod 18, a pulley 19, a cam 20 and a motor 21; the shell 22 is installed on the magnetic panel 10, the motor 21 is fixed on the inner bottom surface of the shell 22, the output shaft of the motor 21 is synchronously connected with the cam 20, the cam 20 is in contact connection with the pulley 19, the pulley 19 is hinged with the lower end of the push rod 18, the upper end of the push rod 18 penetrates through the shell 22 and then is fixedly connected with the material-carrying comb 16, the upper end of the push rod 18 penetrates through the shell 22 and then is sleeved in the track sleeve 17, the track sleeve 17 is fixed on the top surface of the shell 22, and the push rod 18 and the track;
the limiting fork 8 is in an inverted U shape, the upper end of the limiting fork 8 is hinged to the sliding block 11, and the lower end of the limiting fork 8 extends downwards to the lowest point of the supporting wheel 7, so that the lower end of the limiting fork 8 is just positioned on the side of the two guide rails of the linear guide rail 2/turning disc 4, and the limiting fork 8 is enabled to simultaneously fix the supporting wheel 7 and limit the supporting wheel 7 on the rail to prevent deviation. When the supporting wheel 7 is contacted with the track, the left side and the right side of the lower end of the limiting fork 8 are lower than the bottom plate plane of the linear guide rail 2/the turning disc 4, so that the supporting wheel 7 is limited to move in the axial direction.
The housing 22 covers the magnetic panel 10, so that the motion chassis mechanism is enclosed in the closed space formed by the housing 22 and the magnetic panel 10, and in the specific implementation, the pulley 19, the cam 20, the motor 21 and the lower end of the push rod 18 are shaped in the closed space formed by the housing 22 and the magnetic panel 10.
In one embodiment, an electrical component 23 is further mounted in the housing 22, and the electrical component 23 may include a battery, a driver, a controller, and the like.
The magnetic panel 10 of the moving chassis mechanism is made of magnetic materials, ferromagnetic metal is used on the linear guide rail 2/turning disc 4, and the magnetic materials and the ferromagnetic metal are mutually attracted and matched to prevent the conveying robot 3 from being separated from the track in the high-speed moving process.
The material-carrying comb teeth 16 and the discharging comb teeth 1 are arranged in the same comb teeth and have the same size, the tooth width of the comb teeth is slightly smaller than the width of the tooth seam, and the material-carrying comb teeth and the discharging comb teeth are matched to complete discharging.
The comb teeth 16 for carrying materials are matched with the comb teeth 1 for discharging, and when discharging, the comb teeth 16 for carrying materials are positioned in the tooth gaps of the comb teeth 1 for discharging, so that the comb teeth 16 for carrying materials and the comb teeth 1 for discharging move up and down relatively.
The working process of the invention is as follows:
the transport robot places the cutlery items, in particular on the loading combs 16.
Then the conveying robot is driven by the supporting wheels 7 and the driving wheels 14 to move on the linear guide rails 2, before the conveying robot moves to the turning junction 5, the turning turntable 4 rotates to change the rail to a proper position, so that two adjacent linear guide rails 2 which are vertically arranged are connected and connected through the turning turntable 4, as shown in fig. 6 and 7, the linear guide rails 2 enter the turning turntable 4 through the rotation of the limiting forks 8, and the conveying robot moves forward along a track formed by the linear guide rails 2 and the turning turntable 4.
A turning hub 5 is arranged on the moving path of the transfer robot, and a turning disc 4 and a linear guide rail 2 are arranged at the turning hub 5. As shown in figure 1, four turning disks 4 and three short linear guide rails 2 are arranged at the turning hub 5 position which needs to go straight forward and turn left, and the four turning disks 4 are bridged with the straight track to complete the operation of turning left and right. At the position of the turning pivot 5, the movement of the transfer robot 3 to different directions can be realized through the respective conduction relations of the three discs, and the complexity of the track changing mode of the turning track can be reduced by adopting the disc-shaped turning track. Using a C-shaped configuration to make turns can reduce the complexity of the disc configuration. The size is increased within a reasonable range, and the complexity of a mechanical structure is greatly reduced.
During initial transport, the motor 21 is operated to rotate the cam 20 to the uppermost position so that the pulley 19 and the pusher 18 are at the uppermost position and the dishes are placed on the loading comb 16. When the dinner plate is advanced to a transportation target point, the motor 21 works to drive the cam 20 to rotate, and then the pulley 19 and the push rod 18 are driven by the cam pair to move downwards under the guidance of the track sleeve 17, so that the material loading comb teeth 16 descend relative to the unloading comb teeth 1, and the dinner plate objects on the material loading comb teeth 16 are supported by the unloading comb teeth 1.
Therefore, the invention realizes the transportation from the starting point to the target point, can realize convenient unloading operation, and is mainly suitable for medium-scale and large-scale logistics transportation.
Claims (7)
1. A robot for delivering meal in a restaurant is characterized in that: the conveying device comprises a guide rail and a conveying robot, wherein the guide rail is divided into a linear guide rail (2), a turning disc (4) and discharging comb teeth (1), the linear guide rail (2) is laid on the conveying ground, the turning disc (4) is arranged between the linear guide rails (2), the linear guide rail (2) is composed of a strip-shaped bottom plate and two strip-shaped guide rails which are arranged on the strip-shaped bottom plate in parallel, the turning disc (4) is composed of a circular bottom plate and two arc guide rails which are arranged on the circular bottom plate in a concentric circle manner, and intersection turning is carried out through the matching of the turning disc (4) and the conveying robot to realize the conveying between different linear guide rails (2); the linear guide rail (2) is provided with a discharging frame, and discharging comb teeth (1) are arranged on the discharging frame.
2. The restaurant food delivery robot of claim 1, wherein:
the linear guide rail (2) is provided with an inner concave arc groove at the end part of the strip-shaped bottom plate connected with the turning disc (4), and the inner concave arc groove and the circular bottom plate are identical in diameter.
3. The restaurant food delivery robot of claim 1, wherein:
the conveying robot comprises a motion chassis mechanism, a material carrying comb (16) and a lifting mechanism;
the motion chassis mechanism comprises a magnetic panel (10), a driving wheel assembly arranged in the middle of the magnetic panel (10) and four supporting wheel assemblies arranged at four corners of the magnetic panel (10); the driving wheel assembly comprises a driving wheel (14) and a wheel base (15), the driving wheel (14) is rotatably supported and installed in the center of the magnetic panel (10) through the wheel base (15), a central through groove is formed in the center of the magnetic panel (10), and the driving wheel (14) penetrates through the central through groove and is embedded between two guide rails of the linear guide rail (2)/the turning disc (4) and is in contact connection with the bottom plate; the supporting wheel assembly comprises a supporting wheel (7), a limiting fork (8), fixing blocks (9), a magnetic panel (10), a sliding block (11), optical axes (12) and springs (13), the bottoms of the two fixing blocks (9) are fixed on the magnetic panel (10), the tops of the two fixing blocks (9) are connected and installed with the two parallel optical axes (12), the sliding block (11) is movably sleeved on the two optical axes (12), each optical axis (12) is sleeved with the spring (13) between the sliding block (11) and the adjacent fixing block (9), and the sliding block (11) moves horizontally and limitedly along the optical axes (12) under the action of the springs (13); the bottom surface of the sliding block (11) is hinged with the upper end of the limiting fork (8), the lower part of the limiting fork (8) is hinged with a supporting wheel (7), the whole body formed by the supporting wheel (7) and the limiting fork (8) horizontally rotates relative to the sliding block (11), an angle through groove is formed in the surface of the magnetic panel (10) between the two fixing blocks (9), and the supporting wheel (7) penetrates through the angle through groove and then is in contact connection with the upper surfaces of the two guide rails of the linear guide rail (2)/the turning disc (4); the lifting mechanism comprises material-carrying comb teeth (16), a track sleeve (17), a push rod (18), a pulley (19), a cam (20) and a motor (21); the shell (22) is installed on the magnetic panel (10), the motor (21) is fixed on the inner bottom surface of the shell (22), an output shaft of the motor (21) is synchronously connected with the cam (20), the cam (20) is in contact connection with the pulley (19), the pulley (19) is hinged with the lower end of the push rod (18), the upper end of the push rod (18) penetrates through the shell (22) and then is fixedly connected with the material-carrying comb teeth (16), the upper end of the push rod (18) penetrates through the shell (22) and then is sleeved in the track sleeve (17), and the track sleeve (17) is fixed on the top surface of the shell (22).
4. The restaurant food delivery robot of claim 3, wherein:
the limiting fork (8) is in an inverted U shape, the upper end of the limiting fork (8) is hinged to the sliding block (11), and the lower end of the limiting fork (8) extends downwards to the lowest point of the supporting wheel (7), so that the lower end of the limiting fork (8) is just positioned on the sides of the two guide rails of the linear guide rail (2)/the turning disc (4).
5. The restaurant food delivery robot of claim 3, wherein:
the shell (22) covers the magnetic panel (10), so that the motion chassis mechanism is packaged in a closed space formed by the shell (22) and the magnetic panel (10).
In the concrete implementation, an electric element (23) is also arranged in the shell (22).
6. The restaurant food delivery robot of claim 3, wherein:
the magnetic panel (10) of the motion chassis mechanism is made of magnetic materials, ferromagnetic metal is used on the linear guide rail (2)/the turning disc (4), and the magnetic materials and the ferromagnetic metal are mutually attracted and matched.
7. The restaurant food delivery robot of claim 3, wherein:
the material-loading comb teeth (16) and the unloading comb teeth (1) are arranged in the same comb teeth and have the same size, and the tooth width of the comb teeth is smaller than the width of tooth gaps.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911071455.1A CN110834339A (en) | 2019-11-05 | 2019-11-05 | Dining room food delivery robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911071455.1A CN110834339A (en) | 2019-11-05 | 2019-11-05 | Dining room food delivery robot |
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| Publication Number | Publication Date |
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| CN110834339A true CN110834339A (en) | 2020-02-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911071455.1A Pending CN110834339A (en) | 2019-11-05 | 2019-11-05 | Dining room food delivery robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111452014A (en) * | 2020-04-16 | 2020-07-28 | 佛山职业技术学院 | Photovoltaic power plant operation and maintenance passageway and photovoltaic power plant |
| CN111543836A (en) * | 2020-05-14 | 2020-08-18 | 广东智源机器人科技有限公司 | Intelligent serving trolley |
| CN114131658A (en) * | 2021-12-30 | 2022-03-04 | 江苏东岳工程机械有限公司 | Groove robot gas cutting positioner |
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Application publication date: 20200225 |