CN111301971A - Conveying system - Google Patents
Conveying system Download PDFInfo
- Publication number
- CN111301971A CN111301971A CN202010228586.2A CN202010228586A CN111301971A CN 111301971 A CN111301971 A CN 111301971A CN 202010228586 A CN202010228586 A CN 202010228586A CN 111301971 A CN111301971 A CN 111301971A
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- CN
- China
- Prior art keywords
- moving part
- track
- rail
- handling system
- push
- 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.)
- Pending
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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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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- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/82—Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0258—Trays, totes or bins
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Warehouses Or Storage Devices (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The present invention provides a handling system comprising: the carrying mechanism comprises a fixing part, a first moving part, a track mechanism, a second moving part, a carrying part and a bearing part, wherein the fixing part is provided with a first track, the first moving part is installed on the first track, the track mechanism is connected with the first moving part and the second moving part, the track mechanism enables the second moving part to move relative to the first moving part, the carrying part is connected with the second moving part, the carrying part comprises a rotating mechanism and a telescopic mechanism, the bearing part is connected with the carrying part, and the bearing part is provided with a push-pull mechanism. According to the conveying system provided by the invention, the article can be dragged by the push-pull mechanism, and the article can be conveyed in multiple degrees of freedom by the first moving part, the track mechanism, the second moving part and the conveying part.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a carrying system.
Background
The food delivery robot can already perform the task of delivering the dishes autonomously, the robot can be driven by a drive wheel and does not need to be assisted by a track. The existing machine meal delivery robot still needs to manually place dishes on the robot and delivers the dishes to a target position through the robot, labor cost is urgently needed in the middle process, and the working efficiency of the robot is low.
Disclosure of Invention
The present invention has been made in view of the above-described conventional circumstances, and an object thereof is to provide a transfer system capable of automatically loading a food delivery robot.
In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:
the present invention provides a carrying system, comprising:
the conveying mechanism comprises a fixed part, a first moving part, a track mechanism, a second moving part, a conveying part and a bearing part, wherein the fixed part is provided with a first track, the first moving part is installed on the first track, the track mechanism is connected with the first moving part and the second moving part, the track mechanism enables the second moving part to move relative to the first moving part, the conveying part is connected with the second moving part, the conveying part comprises a rotating mechanism and a telescopic mechanism, the bearing part is connected with the conveying part, and the bearing part is provided with a push-pull mechanism;
the storage rack is used for placing a plurality of dinner plates; and
a robot for loading the meal tray, wherein,
the carrying mechanism moves the bearing part to the dinner plate, the push-pull mechanism moves the dinner plate to the bearing part, the bearing part carries the dinner plate to the robot, and the push-pull mechanism places the dinner plate on the robot.
Under the condition, the carrying mechanism can drag the articles through the push-pull mechanism, the articles can be carried in multiple degrees of freedom through the first moving part, the track mechanism, the second moving part and the carrying part, the carrying system can automatically carry the dinner plates at any positions on the shelf onto the robot, the dish conveying efficiency is integrally improved, the labor is saved, and the restaurant operation cost can be greatly reduced.
The first rail is horizontally arranged, the first moving part is vertically connected with the first rail, and the first moving part moves along the first rail.
Thereby, the horizontal movement of the bearing part can be realized.
The track mechanism is horizontally arranged on the first moving part, the track mechanism is vertically arranged with the first track, and the second moving part moves along the track mechanism.
In this case, the carrier part can be moved with two degrees of freedom in the direction perpendicular to the horizontal plane.
The rotating mechanism comprises a rotating body and a rotating driver, the rotating driver drives the rotating body to rotate, the telescopic mechanism executes telescopic action along the extending direction of the rotating body, and the telescopic mechanism is connected with the bearing part.
In this case, the carrying section can control the rotation and expansion and contraction of the carrying section.
Wherein, the rotator sets up perpendicularly to the ground.
Thereby, the bearing part can realize the movement vertical to the ground direction.
Wherein, the push-pull mechanism comprises a crawler belt.
Therefore, the article can be conveyed to the bearing part through the friction force of the crawler belt, and the article can be pushed to the target position through the conveying mechanism, and the article can be pushed to the target position through the crawler belt.
The crawler belts are arranged on two sides of the bearing part respectively.
The carrying part comprises a main body part, the main body part is perpendicular to the ground, the rotating mechanism drives the main body part to rotate, the telescopic mechanism can extend downwards along the extending direction of the main body part, and the telescopic mechanism is connected with the bearing part.
In this case, the carrying section can control the rotation and expansion and contraction of the carrying section.
The storage rack comprises a first supporting platform and a second supporting platform which are arranged oppositely, the first supporting platform and the second supporting platform support two ends of the dinner plate, so that the bottom of the dinner plate is suspended, and the bearing part extends into the lower part of the suspended bottom to enable the push-pull mechanism to be in contact with the dinner plate.
Therefore, the process that the dinner plate is dragged to the bearing part by the push-pull mechanism is more stable.
Wherein the width of the bearing part is smaller than the distance between the first support table and the second support table.
Therefore, the bearing part can penetrate into the space between the first support platform and the second support platform and contact with the dinner plate so as to move the dinner plate.
According to the carrying system provided by the invention, the carrying mechanism can drag the articles through the push-pull mechanism, the articles can be carried in multiple degrees of freedom through the first moving part, the track mechanism, the second moving part and the carrying part, and the carrying system can automatically carry dinner plates at any positions on the shelf onto the robot, so that the efficiency of transferring dishes is integrally improved, the labor is saved, and the operation cost of a restaurant can be greatly reduced.
Drawings
Fig. 1 is a schematic perspective view of a conveyance system according to an embodiment of the present invention;
fig. 2 is a schematic perspective view showing a conveyance mechanism of a conveyance system according to an embodiment of the present invention;
fig. 3 is a perspective view schematically showing another state of the conveying mechanism of the conveying system according to the embodiment of the present invention.
Detailed Description
Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, the same components are denoted by the same reference numerals, and redundant description thereof is omitted. The drawings are schematic and the ratio of the dimensions of the components and the shapes of the components may be different from the actual ones.
As shown in fig. 1 to 3, the present embodiment relates to a conveyance system 1. The carrying system 1 can be applied to a restaurant kitchen.
In the present embodiment, the conveying system 1 includes a conveying mechanism 100, a robot 200, and a rack 300. The conveying mechanism 100 includes a fixed portion 110, a first moving portion 120, a rail mechanism 130, a second moving portion 140, a conveying portion 150, and a carrier portion 160. The fixing portion 110 is provided with a first rail (not shown). The first moving part 120 is mounted to the first rail. The rail mechanism 130 connects the first moving part 120 and the second moving part 140. The rail mechanism 130 allows the second moving part 140 to move relative to the first moving part 120. The conveying unit 150 is connected to the second moving unit 140. The conveying unit 150 includes a rotating mechanism 151 and a telescopic mechanism 152. The carrier 160 is connected to the conveying unit 150. The bearing part 160 is provided with a push-pull mechanism 161. The shelf 300 is placed with a plurality of dinner plates 400. The tray 400 can be used to hold food and dishes. The carrying mechanism 100 moves the carrier 160 to the dish 400. The push-pull mechanism 161 moves the dish 400 to the carrier 160. The carrier 160 carries the dish 400 to the robot 200. The push-pull mechanism 161 places the dish 400 on the robot 200. Under the condition, the carrying mechanism can drag the articles through the push-pull mechanism, the articles can be carried in multiple degrees of freedom through the first moving part, the track mechanism, the second moving part and the carrying part, the carrying system can automatically carry the dinner plates at any positions on the shelf onto the robot, the dish conveying efficiency is integrally improved, the labor is saved, and the restaurant operation cost can be greatly reduced.
In the present embodiment, the first rail is horizontally disposed. The first moving part 120 is perpendicularly connected to the first rail. The first moving part 120 moves along the first track. Thereby, the horizontal movement of the bearing part can be realized.
In some examples, the fixing part 110 may be disposed on a ceiling of a room. The fixing portion 110 may be substantially elongated. The fixing portion 110 may be disposed substantially parallel to the ground.
In some examples, the first rail may be a linear slide. The first moving portion 120 is disposed on the slide rail. The first moving part 120 may be disposed substantially perpendicular to the ground.
In the present embodiment, the rail mechanism 130 is horizontally disposed on the first moving part 120. Specifically, the rail mechanism 130 may be fixed to the first moving part 120. The rail mechanism 130 is disposed perpendicular to the first rail. The second moving part 140 moves along the rail mechanism 130. In this case, the carrier part can be moved with two degrees of freedom in the direction perpendicular to the horizontal plane.
In some examples, the ramp mechanism 130 may be generally elongated. The rail mechanism 130 may be a linear slide. The second moving part 140 may be provided to the rail mechanism 130.
In the present embodiment, the rotation mechanism 151 includes a rotating body and a rotation driver. The rotary actuator drives the rotating body to rotate, and the telescopic mechanism 152 performs a telescopic operation in the extending direction of the rotating body. The telescoping mechanism 152 is connected to the carrier 160. In this case, the carrying section can control the rotation and expansion and contraction of the carrying section.
In some examples, the rotating body may be generally cylindrical. The rotary drive may be a motor. The rotating body may be fixed to a rotating shaft of the rotary driver.
In some examples, the telescoping mechanism may be a hydraulic telescoping mechanism.
In the present embodiment, the rotating body is disposed perpendicular to the ground. Thereby, the bearing part can realize the movement vertical to the ground direction.
In the present embodiment, the push-pull mechanism 161 includes a crawler belt. Therefore, the article can be conveyed to the bearing part through the friction force of the crawler belt, and the article can be pushed to the target position through the conveying mechanism, and the article can be pushed to the target position through the crawler belt.
In the present embodiment, the crawler belt includes two. The two crawler belts are respectively disposed on both sides of the carrier 160.
In some examples, the carrier 160 may have a flat surface for carrying an object.
In some examples, the handling portion 160 includes a main body portion. The main body part is arranged perpendicular to the ground. The rotation mechanism drives the main body to rotate. The telescopic mechanism can extend downwards along the extending direction of the main body part, and is connected with the bearing part. In this case, the carrying section can control the rotation and expansion and contraction of the carrying section.
In this embodiment, after the robot 200 has finished loading the tray 400, the tray 400 is transported to the target location. The target location may be a table of a restaurant.
In some examples, it can be appreciated that the change in spatial position can be achieved by the first moving part 120, the second moving part 140, and the telescoping mechanism 152 during the movement of the carrying part 160 to the target tray 400. The carrier 160 is oriented towards the subject dinner plate 400 by the rotation mechanism 151.
In the present embodiment, the conveying mechanism 100 may be fixed to the ceiling by the fixing portion 110, and the whole conveying mechanism 100 may be suspended. In this case, the moving range of the conveying mechanism 100 can be increased.
In this embodiment, the robot 200 may be provided with a number of trays 210. The tray 210 is used to load the dinner plate 400. The robot 200 may be parked at a predetermined position beside the shelf 300. The preset position allows the carrying part 160 to move to the tray 210. Under the condition, the robot directly stops at an accurate position, the position of the robot can be matched with the carrying mechanism, and the carrying mechanism can move and place the dinner plate with the highest efficiency.
In this embodiment, the rack 300 includes a first support stage 310 and a second support stage 320, which are disposed opposite to each other. The first support platform 310 and the second support platform 320 support the ends of the dish 400 such that the bottom 410 of the dish 400 is suspended. The carrier 160 extends below the raised bottom 410 to allow the push-pull mechanism 161 to contact the dish 400. Therefore, the process that the dinner plate is dragged to the bearing part by the push-pull mechanism is more stable.
In some examples, the width of the carrier 160 is less than the distance between the first support table 310 and the second support table 320. Thus, the carrying portion 160 can penetrate between the first support platform 310 and the second support platform 320 and contact the dish to move the dish.
In this embodiment, the rack 300 may include a plurality of pairs of the first support stage 310 and the second support stage 320. A plurality of pairs of the first support stage 310 and the second support stage 320 may be disposed in parallel. Therefore, the number of the dinner plates contained in the shelf can be increased.
In this embodiment, the rack 300 may be provided with a plurality of vertical plates vertically disposed. The first support table 310 and the second support table 320 may be provided to the riser.
The above-described embodiments do not limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the above-described embodiments should be included in the protection scope of the technical solution.
Claims (10)
1. A handling system, comprising:
the conveying mechanism comprises a fixed part, a first moving part, a track mechanism, a second moving part, a conveying part and a bearing part, wherein the fixed part is provided with a first track, the first moving part is installed on the first track, the track mechanism is connected with the first moving part and the second moving part, the track mechanism enables the second moving part to move relative to the first moving part, the conveying part is connected with the second moving part, the conveying part comprises a rotating mechanism and a telescopic mechanism, the bearing part is connected with the conveying part, and the bearing part is provided with a push-pull mechanism;
the storage rack is used for placing a plurality of dinner plates; and
a robot for loading the meal tray, wherein,
the carrying mechanism moves the bearing part to the dinner plate, the push-pull mechanism moves the dinner plate to the bearing part, the bearing part carries the dinner plate to the robot, and the push-pull mechanism places the dinner plate on the robot.
2. The handling system according to claim 1, wherein the first rail is horizontally disposed, the first moving part is vertically connected to the first rail, and the first moving part moves along the first rail.
3. The handling system according to claim 3, wherein the rail mechanism is horizontally disposed on the first moving part, the rail mechanism is disposed vertically to the first rail, and the second moving part moves along the rail mechanism.
4. The conveyance system according to claim 1, wherein the rotation mechanism includes a rotating body and a rotation driver that drives the rotating body to rotate, and the telescopic mechanism performs a telescopic action along an extending direction of the rotating body, and is connected to the carrier.
5. The handling system of claim 4, wherein the rotating body is disposed vertically to the ground.
6. The handling system of claim 1, wherein the push-pull mechanism comprises a track.
7. The handling system of claim 6, wherein the crawler includes two crawlers, the two crawlers being disposed on opposite sides of the carrier.
8. The carrying system according to claim 1, wherein the carrying section includes a main body portion disposed perpendicular to the ground, the rotating mechanism drives the main body portion to rotate, the telescoping mechanism is extendable downward in the extending direction of the main body portion, and the telescoping mechanism is connected to the carrying section.
9. The handling system of claim 1, wherein the rack comprises a first support platform and a second support platform disposed opposite to each other, the first support platform and the second support platform supporting the ends of the trays such that the bottoms of the trays are suspended, and the support portion extending below the suspended bottoms such that the push-pull mechanism contacts the trays.
10. The handling system of claim 1, wherein the width of the carrier is less than the distance between the first support table and the second support table.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010228586.2A CN111301971A (en) | 2020-03-27 | 2020-03-27 | Conveying system |
| PCT/CN2020/131488 WO2021189888A1 (en) | 2020-03-27 | 2020-11-25 | Carrying mechanism and carrying system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010228586.2A CN111301971A (en) | 2020-03-27 | 2020-03-27 | Conveying system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111301971A true CN111301971A (en) | 2020-06-19 |
Family
ID=71153824
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010228586.2A Pending CN111301971A (en) | 2020-03-27 | 2020-03-27 | Conveying system |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN111301971A (en) |
| WO (1) | WO2021189888A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2021189888A1 (en) * | 2020-03-27 | 2021-09-30 | 深圳市普渡科技有限公司 | Carrying mechanism and carrying system |
| CN114348546A (en) * | 2021-12-31 | 2022-04-15 | 浙江工业大学 | Contactless intelligent serving trolley |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114380041A (en) * | 2021-12-31 | 2022-04-22 | 苏州精濑光电有限公司 | Rotary carrying device for high-temperature aging test |
| CN116442189B (en) * | 2023-05-05 | 2023-11-17 | 江南大学 | Order turnover box sorting mobile robot |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2021189888A1 (en) | 2021-09-30 |
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Application publication date: 20200619 |
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