CN112091986A

CN112091986A - Dish conveying robot suitable for overhead track

Info

Publication number: CN112091986A
Application number: CN202010782297.7A
Authority: CN
Inventors: 陈凯; 严忠耀
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-08-06
Filing date: 2020-08-06
Publication date: 2020-12-18
Anticipated expiration: 2040-08-06
Also published as: CN112091986B

Abstract

The invention relates to a dish conveying robot suitable for an overhead track, which comprises a robot frame, a driving wheel assembly arranged at the bottom of the robot frame and a guide wheel assembly arranged at the side part of the robot frame, wherein the robot frame is provided with a hollow cavity with an opening at the bottom, a lifting mechanism is also arranged at the top of the robot frame, the movable end of the lifting mechanism extends into the hollow cavity and is fixedly connected with a dish conveying box, and the lifting mechanism drives the dish conveying box to move up and down. Compared with the prior art, the dish conveying robot has the functions of autonomous turning and walking on the overhead track, can improve dish conveying efficiency, reduces the shaking of the dish conveying box in the operation process of the dish conveying robot, and enables the whole dish conveying process to be more efficient and reliable.

Description

Dish conveying robot suitable for overhead track

Technical Field

The invention belongs to the technical field of dish conveying equipment, and relates to a dish conveying robot suitable for an overhead track.

Background

The dish transferring robot used in the existing intelligent restaurant generally has two types of running on a ground track and running on an overhead track, the dish transferring robot running on the ground is limited by the restaurant terrain in the dish transferring process due to a dish delivering mode matched with the dish transferring robot, and the dish transferring efficiency is low.

For example, chinese patent ZL201821254229.8 discloses an intelligent track dish delivery system, which adopts an overhead track dish delivery method, but when the dish delivery robot of this patent is in operation, especially when the robot passes through a turning track, the object box mounted under the robot can continuously generate inertia shaking, which easily causes dish soup to overflow from the dish, the track is complex to construct, and a special track transfer device needs to be configured, and when the dish delivery robot above the dining table is performing dish delivery operation, the rear robot can only wait at the rear, and cannot pass through the front dish delivery robot, so that the dish delivery efficiency is low.

Disclosure of Invention

The invention aims to provide a dish conveying robot suitable for an overhead track, and aims to solve the problems that an existing dish conveying robot is easy to shake, poor in stability and/or low in dish conveying efficiency in a dish conveying process.

The purpose of the invention can be realized by the following technical scheme:

the utility model provides a biography dish robot suitable for overhead track, includes the robot frame, sets up at the drive wheel subassembly of robot frame bottom and installs the leading wheel subassembly at the robot frame lateral part, its characterized in that, the robot frame have bottom open-ended cavity, still install elevating system at robot frame top, this elevating system's expansion end stretches into in the cavity and a fixed connection dish case to drive by elevating system and pass dish case oscilaltion and remove.

Furthermore, the robot frame is enclosed by an upper support plate, a lower support plate and a side support plate, wherein the bottom opening is processed on the lower support plate, and the lifting mechanism is arranged on the upper support plate.

Furthermore, the size of the bottom opening is not smaller than the size of the side part of the vegetable conveying box, so that the vegetable conveying box can enter and exit the hollow cavity along the bottom opening.

Further, the lifting stroke of the lifting mechanism meets the following requirements: when the lifting mechanism ascends, the dish conveying box is driven by the lifting mechanism to ascend and enter from the bottom opening until all or part of the dish conveying box is hidden in the hollow cavity, and when the lifting mechanism descends, the dish conveying box is driven by the lifting mechanism to leave the hollow cavity from the bottom opening until the dish conveying position above the dining table area.

Further, the robot frame on still arranged the lithium cell group, when passing dish robot when the position that breaks away from the wiping line such as crossing, the lithium cell group continues the power supply for passing dish robot as stand-by power supply promptly for it can continue normal driving, simultaneously, when passing dish robot reconnects the wiping line, the power supply is cut off promptly to the lithium cell group.

Furthermore, the driving wheel assembly comprises two hub motors arranged at one pair of angular positions of the robot frame and two traveling wheels arranged at the other pair of angular positions of the robot frame, wherein the hub motors are arranged on the robot frame through a steering assembly, and the traveling wheels are arranged on the robot frame through a universal assembly.

Furthermore, a station sensor and a safety anti-collision sensor are further arranged on the robot frame.

Furthermore, the guide wheel assembly is composed of four groups of guide wheel units which are respectively arranged on four sides of the robot frame, each group of guide wheel unit comprises a wheel support which is movably arranged on the side surface of the robot frame and has the degree of freedom along the side surface of the corresponding robot frame, and guide wheels which are arranged on the wheel support, and a spring buffer piece which can stretch along the direction vertical to the side surface of the corresponding robot frame is also arranged between the wheel support and the robot frame.

Furthermore, the side of the robot frame is also provided with a current collector which is in contact with the trolley line arranged on the overhead rail, and the current collector comprises a current collector base, a carbon brush head and an active telescopic part arranged on the current collector base, wherein the active telescopic part is also connected with the carbon brush head and can drive the carbon brush head to approach to or be far away from the trolley line.

Further, the robot frame on still be equipped with brake equipment, this brake equipment includes brake support frame, two brake blocks to and the brake actuating mechanism who sets up on the brake support frame, wherein, two brake block intervals set up relatively and are formed with the brake space that can supply the brake track to put into, brake actuating mechanism still drive and connect two brake blocks to make two relative interlocks of brake block or bounce off, during the braking, brake actuating mechanism drives two relative interlocks of brake block, and the tight brake track that is located between two brake blocks of clamp.

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

(1) will pass the dish case and fix in elevating system bottom, then, adopt the restraint of robot frame to pass the dish case, like this, can mutually support and carry out better restraint to the dish case and fix, avoid passing the dish case and take place too big rocking at passing dish robot travel in-process, lead to the dish hot water juice to spill over. In addition, the arrangement mode that the hollow cavity is arranged in the dish delivery box can not only assist in restricting the shaking of the dish delivery box, but also facilitate the hidden transportation of the dish delivery box, thereby reducing the influence on diners. In addition, pass the dish case and arrange in on the track plane via robot frame etc. and in passing dish robot walking in-process, pass the dish case and do not have the problem of focus skew, like this, just eliminate and rock because of passing the dish case that the focus problem arouses, also avoided conventional dish robot to pass to adopt the hanging flower basket mode easily to lead to producing the side direction inertial force at the walking in-process to premature failure leading wheel and bearing wheel, and then can avoid influencing the life of passing dish robot.

(2) The drive wheel subassembly of passing dish robot bottom adopts four groups of wheels, be two sets of in-wheel motor and two sets of walking wheels respectively, four groups of wheels all can rotate at horizontal position, and in-wheel motor can initiatively rotate, make to pass dish robot and can turn or the diversion on the track wantonly, thus, make whole orbital overall arrangement become more convenient and nimble, and simultaneously, because pass dish robot can pass through cross by oneself, cross tracks such as T font, consequently, can save the setting of rail turn-over device on the overhead track, make whole pass dish in-process to pass the walking route of dish robot on the track shorten, avoid taking place midway queuing up and waiting for the scheduling problem, the dish efficiency of passing of whole dish process obtains obviously promoting.

(3) The carbon brush head of the current collecting device adopts active telescopic setting, so that the problems of collision and the like between the carbon brush head and a sliding contact line can be effectively avoided in the process of a transition point, the damage of parts such as the carbon brush head is avoided, and the smoothness of the dish conveying robot passing through a rail intersection is improved.

(4) The setting of brake equipment can realize auxiliary braking outside the drive wheel subassembly, specifically is to drive two brake block through brake actuating mechanism and presss from both sides tight brake track relatively, like this, through pressing from both sides tight friction track in the twinkling of an eye and realize quick braking, whole reaction is rapid, and the braking is reliable.

Drawings

Fig. 1 is a schematic front view of a dish transferring robot according to the present invention;

FIG. 2 is a schematic side view of the dish transferring robot of the present invention;

FIG. 3 is a schematic structural view of the dish-transferring box hidden in the hollow cavity;

FIG. 4 is a schematic structural view of a dish conveying robot in the process of descending a dish conveying box;

FIG. 5 is a schematic view of a dish transfer robot traveling on an overhead track;

FIG. 6 is a schematic view of the dish transferring robot during transferring dishes;

FIG. 7 is a schematic view of a current collector;

FIG. 8 is a schematic view from below of the current collector;

FIG. 9 is a schematic structural view of the braking device;

FIG. 10 is a rear perspective view of the brake apparatus;

FIG. 11 is a schematic view of a brake assembly and an overhead rail;

the notation in the figure is:

1-robot frame, 11-upper support plate, 12-lower support plate, 13-side support plate, 14-bottom opening, 15-hollow cavity;

2-driving wheel assembly, 21-hub motor, 22-walking wheel, 23-steering assembly and 24-universal assembly;

3-a guide wheel assembly, 31-a guide wheel, 32-a wheel bracket and 33-a spring buffer piece;

4-a lifting mechanism;

5-a site sensor;

6-overhead rail;

7-current collecting device, 701-current collector base, 702-movable sliding block, 703-carbon brush base, 704-carbon brush head, 705-first buffer elastic part, 706-connecting rod part, 707-first driving part, 708-guide groove, 709-first movable shaft, 710-anti-release part, 711-cover plate, 712-driving bracket and 713-leading-out wire;

8-brake device, 801-brake support frame, 802-brake connecting piece, 803-brake block, 804-tensile elastic piece, 805-cam, 806-brake driving piece, 807-sliding groove, 808-second movable shaft, 809-brake block connecting piece, 810-buffer plate, 811-second buffer elastic piece and 812-brake track;

9-transferring the dish box;

10-lithium battery pack.

Detailed Description

The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.

In the following description of the embodiments or examples of the present invention, unnecessary functional components that do not relate to the innovation or improvement of the present invention and do not affect the implementation of the technical solution of the present invention are omitted, such as a power supply, a power supply circuit connecting the power supply and the power consuming components on the dish transferring robot, and a controller (a PLC system may be used) for coordinating and controlling the motion components and the sensors, and the like.

The invention provides a dish conveying robot suitable for an overhead track, which is structurally shown in figures 1 and 2 and comprises a robot frame 1, a driving wheel assembly 2 arranged at the bottom of the robot frame 1 and a guide wheel assembly 3 arranged at the side part of the robot frame 1, wherein the robot frame 1 is provided with a hollow cavity 15 with an opening 14 at the bottom, a lifting mechanism 4 is also arranged at the top of the robot frame 1, and the movable end of the lifting mechanism 4 extends into the hollow cavity 15 and is fixedly connected with a dish conveying box. Preferably, when the lifting mechanism 4 is lifted, the dish conveying box is driven by the lifting mechanism 4 to lift and enter the hollow cavity 15 from the bottom opening 14 until being completely or partially hidden in the hollow cavity 15, and when the lifting mechanism 4 is lowered, the dish conveying box is driven by the lifting mechanism 4 to be lowered and leave the hollow cavity 15 from the bottom opening 14 until reaching the dish conveying position above the dining table area. In the present invention, the lifting mechanism 14 may be a conventional component capable of realizing a corresponding active lifting function, such as a lifting telescopic rod.

In an embodiment of the present invention, referring to fig. 1-4, the robot frame 1 is enclosed by an upper support plate 11, a lower support plate 12 and a side support plate 13, wherein the lower support plate 12 is provided with the bottom opening 14, and the upper support plate 11 is provided with the lifting mechanism 4.

In a specific embodiment of the present invention, the bottom opening 14 has a size not smaller than the side of the vegetable conveying box.

In a specific embodiment of the present invention, the robot frame 1 is further provided with a lithium battery pack 10, when the dish transferring robot passes through a position where the fork junction or the like is separated from the trolley line, the lithium battery pack 10 serves as a standby power supply to continuously supply power to the dish transferring robot, so that the dish transferring robot can continue to run normally, and meanwhile, when the dish transferring robot is reconnected to the trolley line, the lithium battery pack 10 is disconnected from the power supply.

In a specific embodiment of the invention, the movable end of the lifting mechanism 4 is fixedly connected with the top of the vegetable conveying box through a flange plate, so that the fixed connection effect between the vegetable conveying box and the lifting mechanism 4 can be improved.

In a specific embodiment of the present invention, please refer to fig. 3 and so on, the driving wheel assembly 2 includes two in-wheel motors 21 arranged at one pair of corners of the robot frame 1, and two traveling wheels 22 installed at the other pair of corners of the robot frame 1, wherein the in-wheel motors 21 are installed on the robot frame 1 through a steering assembly 23, and the traveling wheels 22 are installed on the robot frame 1 through a universal assembly 24. The mode that adopts the diagonal angle to arrange sets up in-wheel motor 21 and walking wheel 22, both can satisfy the dish transfer robot about 90 within ranges turn to the requirement, simultaneously, also reduced drive wheel assembly 2's cost, simultaneously, the arrangement of imitative four-wheel drive (actually only two main drive wheels, promptly in-wheel motor 21) also improves the walking stability of dish transfer robot on overhead rail 6 for the dish transfer case can not take place to rock. Meanwhile, the robot frame 1 is respectively installed by adopting the steering assembly 23 and the universal assembly 24, so that the steering of the driving wheel assembly 2 can be better matched. The steering assembly 23 may be a conventional active steering structure, such as an electric power steering device, and the gimbal assembly 24 may be a conventional gimbal assembly.

In a specific embodiment of the present invention, please refer to fig. 3 and the like, a station sensor 5 and a safety collision avoidance sensor are further disposed on the robot frame 1. The station sensor 5 may identify the target table position by detecting a station tag provided on the table. The safe anti-collision sensor can adopt a distance sensor and the like, and the anti-collision problem is ensured by detecting the distance between two adjacent dish conveying robots and feeding back corresponding information to the dish conveying robots.

In a specific embodiment of the present invention, please refer to fig. 1 and the like again, the guide wheel assembly 3 is composed of four sets of guide wheel units respectively arranged on four sides of the robot frame 1, each set of guide wheel unit includes a wheel bracket 32 movably arranged on the side of the robot frame 1 and having a degree of freedom perpendicular to the corresponding side of the robot frame 1, and a guide wheel 31 mounted on the wheel bracket 32, and a spring buffer 33 extending and contracting in a direction perpendicular to the corresponding side of the robot frame 1 is further arranged between the wheel bracket 32 and the robot frame 1. The spring damper 33 may employ a conventional compression spring.

In a specific embodiment of the present invention, the dish-transferring case is not limited to a general case structure, and other supporting structures such as an openable empty case, on which dishes for dishes can be placed, may be used. The tray body is also provided with a placing groove matched with the bottom of the dish. And a dish detection sensor for detecting whether dishes are placed on the dish delivery tray is also arranged on the dish delivery tray. The dish detection sensor is a pressure sensor or an infrared correlation sensor and the like.

In a specific embodiment of the present invention, the side of the robot frame 1 is further provided with a current collecting device 7 contacting with the trolley line arranged on the overhead rail 6, the current collecting device includes a current collector base 701, a carbon brush head 704, and an active telescopic member arranged on the current collector base 701, wherein the active telescopic member is further connected with the carbon brush head, and can drive the carbon brush head to approach or move away from the trolley line through its own expansion. In a more specific embodiment, referring to fig. 7 and 8, the active telescopic member may include a movable sliding block 702, a carbon brush holder 703, a first buffering elastic member 705, a connecting rod member 706, a first driving member 707, and the like, wherein the movable sliding block 702 is slidably disposed on the collector base 701 and has a degree of freedom in a direction toward or away from the trolley line, the carbon brush holder 703 is movably disposed on the movable sliding block 702 and also has a degree of freedom in a direction toward or away from the trolley line, the carbon brush head 704 is fixedly mounted on the carbon brush holder 703 and is connected to a power taking structure disposed on the robot frame 1 through an outgoing line 713, the first buffering elastic member 705 is disposed between the carbon brush holder and the movable sliding block 702, two ends of the connecting rod member 706 are respectively connected to the first driving member 707 and the movable sliding block 702, the connecting rod member 703 is driven by the first driving member 707, the movable sliding block 702 and the carbon brush head 704 are driven to move in the direction approaching to or away from the trolley line.

In a specific embodiment of the present invention, please refer to fig. 9 and 10, the robot frame 1 is further provided with a brake device 8, the brake device includes a brake support frame 801, two brake pads 803, and a brake driving mechanism disposed on the brake support frame 801, wherein the two brake pads 803 are disposed opposite to each other at an interval and form a brake space for placing a brake track, the brake driving mechanism further drives and connects the two brake pads and enables the two brake pads to be engaged or sprung apart from each other, and during braking, the brake driving mechanism drives the two brake pads to be engaged and clamp the brake track between the two brake pads. In a more specific embodiment, referring to fig. 9 and 10, the brake actuating mechanism may include two brake pads 802, a tensioned elastic member 804, a cam 805, a brake actuating member 806, and the like, wherein the middle of the brake pads 802 is rotatably mounted on the brake support frame 801, a dividing line is defined by a connecting line of the two brake pads 802 and a rotational connecting point of the brake support frame 801, the brake pads 803 are mounted on the brake pads 802 at one end of the dividing line, the two brake pads 802 are connected at the other end of the dividing line by the tensioned elastic member 804, the cam 805 is disposed between the two brake pads 802 and located at the same end of the dividing line as the tensioned elastic member 804, an output end of the brake actuating member 806 is fixedly connected to the cam 805, and drives the cam 805 to rotate to spread one end of the two brake pads 802 and make the brake pads 803 at the other end of the brake pads 802 relatively close, to clamp the brake rails 812 provided on the overhead rail 6 to effect auxiliary braking.

In the above embodiments, any one may be implemented alone, or any two or more may be implemented in combination.

The above embodiments will be described in more detail with reference to specific examples.

Example 1:

the embodiment provides a dish conveying robot suitable for an overhead track, which has a structure shown in fig. 1 and 2, and comprises a robot frame 1, a driving wheel assembly 2 arranged at the bottom of the robot frame 1, and a guide wheel assembly 3 arranged at the side of the robot frame 1, wherein the robot frame 1 is provided with a hollow cavity 15 with an opening 14 at the bottom, a lifting mechanism 4 is arranged at the top of the robot frame 1, the movable end of the lifting mechanism 4 extends into the hollow cavity 15 and is fixedly connected with a vegetable conveying box, and when the lifting mechanism 4 is lifted, the vegetable conveying box is driven by the lifting mechanism 4 to rise and enter the hollow cavity 15 along the bottom opening 14 until the vegetable conveying box is completely or partially hidden in the hollow cavity 15, when the lifting mechanism 4 descends, the dish conveying box is driven by the lifting mechanism 4 to descend and leave the hollow cavity 15 until reaching a dish conveying position above the dining table area.

Referring to fig. 1 to 4, the robot frame 1 is enclosed by an upper support plate 11, a lower support plate 12 and a side support plate 13, wherein the lower support plate 12 is provided with a bottom opening 14, and the upper support plate 11 is provided with a lifting mechanism 4. The size of the bottom opening 14 is not smaller than the size of the side part of the vegetable conveying box. The movable end of the lifting mechanism 4 is fixedly connected with the top of the vegetable conveying box through a flange plate, so that the fixed connection effect between the vegetable conveying box and the lifting mechanism 4 can be improved.

Referring to fig. 3 and the like, the driving wheel assembly 2 includes two in-wheel motors 21 arranged at one pair of angular positions of the robot frame 1, and two traveling wheels 22 installed at the other pair of angular positions of the robot frame 1, wherein the in-wheel motors 21 are installed on the robot frame 1 through a steering assembly 23, and the traveling wheels 22 are provided on the robot frame 1 through a universal assembly 24. The hub motor 21 and the travelling wheels 22 are arranged in a diagonal arrangement mode, so that the steering requirement of the dish conveying robot within a range of 90 degrees from left to right can be met, and meanwhile, the cost of the driving wheel assembly 2 is reduced. Meanwhile, the robot frame 1 is respectively installed by adopting the steering assembly 23 and the universal assembly 24, so that the steering of the driving wheel assembly 2 can be better matched. The steering assembly 23 may be a conventional active steering structure, such as an electric power steering device, and the gimbal assembly 24 may be a conventional gimbal assembly.

Referring to fig. 3 and the like, a station sensor 5 and a safety collision avoidance sensor are further disposed on the robot frame 1. The station sensor 5 may identify the target table position by detecting a station tag provided on the table. The safe anti-collision sensor can adopt a distance sensor and the like, and the anti-collision problem is ensured by detecting the distance between two adjacent dish conveying robots and feeding back corresponding information to the dish conveying robots.

Referring to fig. 1 and the like again, the guide wheel assembly 3 is composed of four sets of guide wheel units respectively disposed at four sides of the robot frame 1, each set of guide wheel unit includes a wheel bracket 32 movably disposed at a side of the robot frame 1 and having a degree of freedom in a direction perpendicular to the corresponding side of the robot frame 1, and a guide wheel 31 mounted on the wheel bracket 32, and a spring buffer 33 extending and contracting in a direction perpendicular to the corresponding side of the robot frame 1 is further provided between the wheel bracket 32 and the robot frame 1. The spring damper 33 may employ a conventional compression spring.

When dishes are placed in the dish delivery box, the dish delivery robot runs on the overhead rail 6, as shown in fig. 3 and 5, and the dish delivery box is hidden in the hollow cavity 15 of the robot frame 1. When the dish transferring robot runs to the upper part of the dining table area, the lifting mechanism 4 on the dish transferring robot acts to drive the dish transferring box to descend to the tabletop, and the dishes in the dish transferring box can be taken out conveniently by the google. In the dish transferring process, when the dish transferring robot runs to the junction of the overhead track 6, the wheel hub motor 21 rotates by 90 degrees to change the running direction of the dish transferring robot, the travelling wheels 22 are arranged at the other two end-to-end positions of the frame type frame, and when the wheel hub motor 21 changes the running direction, the direction of the travelling wheels 22 is changed through the universal assembly 24. Four directions of the side part of the robot frame 1 are respectively provided with 2 groups of guide wheel units, so that the intelligent dish conveying robot is ensured to run stably on the track. In addition, a set of safe anti-collision sensors are respectively arranged in four directions on the side part of the robot frame 1, and when the robot meets a front stop trolley or an obstacle during running, the robot is informed to start a brake to stop running.

In this embodiment, the robot frame 1 is further provided with a lithium battery pack 10, when the dish conveying robot passes through a position where the sliding contact line is separated from the turnout junction and the like, the lithium battery pack 10 serves as a standby power supply to continuously supply power to the dish conveying robot, so that the dish conveying robot can continuously and normally run, and meanwhile, when the dish conveying robot is connected with the sliding contact line again, the lithium battery pack 10 is disconnected from the power supply.

Example 2:

on the basis of embodiment 1, this embodiment further adopts the following settings:

the side of the robot frame 1 is further provided with a current collecting device 7 contacting with the trolley line arranged on the overhead rail 6, as shown in fig. 7 and 8, the current collecting device 7 includes a current collector base 701, a movable sliding block 702, a carbon brush holder 703, a carbon brush head 704, a first buffer elastic member 705, a connecting rod 706 and a first driving member 707, wherein the movable sliding block 702 is slidably arranged on the current collector base 701 and has a degree of freedom along a direction approaching to or away from the trolley line, the carbon brush holder 703 is movably arranged on the movable sliding block 702 and also has a degree of freedom approaching to or away from the trolley line, the carbon brush head 704 is fixedly mounted on the carbon brush holder 703 and is connected with a power taking structure arranged on the robot frame 1 through an outgoing line 713, the first buffer elastic member 705 is arranged between the carbon brush holder 703 and the movable sliding block 702, two ends of the connecting rod 706 are respectively connected with the first driving member 707 and the movable sliding block 702, the first driving member 707 drives the connecting rod 706 to move the movable slider 702 and the carbon brush head 704 in a direction approaching or moving away from the trolley line.

In this embodiment, the connection rod 706 is a connection rod with one end fixedly connected to the output end of the first driving member 707 and driven by the first driving member 707, a bar-shaped hole is processed at the other end of the connection rod, the bottom of the movable sliding block 702 is provided with a first movable shaft 709 arranged in the bar-shaped hole, and the size and shape of the bar-shaped hole satisfy: when the link rod rotates in the forward and reverse directions with the first driving member 707, the first movable shaft 709 reciprocates in the bar hole, and drives the movable slider 702 to slide on the collector base 701 in a direction approaching or departing from the trolley line. At this time, in cooperation with the movement of the first movable shaft 709 in the bar hole, the connecting rod 706 converts the rotation of the first driving member 707 into a linear motion that drives the movable slider 702 in the horizontal direction. The connecting rod comprises a flange part and a connecting part, wherein the flange part and the connecting part are connected into a whole, the cross section of the connecting part is U-shaped, the flange part is fixedly connected with the output end of the first driving part 707, and the end part of the connecting part is processed with a strip-shaped hole penetrating through two side walls of the U-shaped cross section of the connecting part. The connecting rod is divided into a flange part and a connecting part, so that the connecting rod can be conveniently connected with the first driving part 707 and the first movable shaft 709 according to needs, and meanwhile, the subsequent maintenance and replacement are facilitated. The flange portion and the first driver 707 may be connected by a bolt structure or the like.

The first movable shaft 709 is provided with a slip-off preventer 710 on its end passing through the bar-shaped hole. More preferably, the anti-slip member 710 is a snap spring. The anti-slip member 710 is provided to prevent the connection rod 706 from slipping off the first movable shaft 709 during operation.

A guide groove 708 is formed on the collector base 701 along a direction approaching or departing from the trolley line, the width of the guide groove 708 matches with that of the first movable shaft 709, and the first movable shaft 709 passes through the guide groove 708 and is placed in the strip-shaped hole. Meanwhile, a cover plate 711 is fixedly attached to the bottom of collector base 701, and guide groove 708 is formed in cover plate 711. At this time, the sliding portion of movable slider 702 may be interposed between collector base 701 and cover plate 711, so that movable slider 702 may be restrained in a direction perpendicular to collector base 701.

The sliding travel of movable slider 702 on collector base 701 satisfies: when the dish conveying robot runs in the track, when the movable sliding block 702 moves to the maximum in the direction approaching the sliding contact line on the current collector base 701, the carbon brush head 704 contacts the sliding contact line, and the first buffering elastic part 705 is in a compressed state; when the movable slider 702 moves to the maximum in the direction away from the trolley line on the collector base 701, the carbon brush head 704 is separated from the trolley line, and the first buffer elastic member 705 is in a normal state. In this way, during the moving stroke of the movable slider 702, the purpose of the present invention, that is, avoiding abnormal collision between the carbon brush head 704 and the trolley wire during track switching, etc., can be ensured. Two carbon brush heads 704 and two carbon brush holders 703 are respectively arranged on the movable sliding block 702 correspondingly. A first driving member 707, which is a steering engine, is mounted on a driving bracket 712 fixedly connected to the collector base 701; the first buffering elastic member 705 is a buffering spring.

When the telescopic current collector works, the carbon brush head 704 of the current collector can be controlled to retract when the dish transferring robot passes through the track transfer points, at the moment, in order to further improve the passing smoothness of the dish transferring robot at various track transfer points, the dish transferring robot can also supply power for a short time through a built-in standby battery, the design precision of the dish transferring robot running on the track can be properly relaxed, the manufacturing cost is reduced, after the dish transferring robot passes through the track transfer points, the carbon brush head 704 of the current collector is controlled to extend out to be in close contact with the sliding contact line, and the dish transferring robot is continuously supplied with power, so that the problems of abnormal collision between the carbon brush head 704 and the sliding contact line and the like in the track transfer point process can be effectively avoided, and the damage of the components such as the carbon brush head 704 and the like is avoided.

Example 3:

on the basis of embodiment 1 or embodiment 2, the present embodiment further adopts the following settings:

referring to fig. 9-11, the robot frame 1 is further provided with a brake device 8, the brake device 8 includes a brake support frame 801, two brake connecting pieces 802, a brake pad 803, a tensile elastic member 804, a cam 805, and a brake driving member 806, the middle of the brake connecting piece 802 is rotatably mounted on the brake support frame 801, a connecting line between the two brake connecting pieces 802 and the rotational connecting point of the brake support frame 801 is used as a dividing line, the brake connecting piece 802 is provided with the brake pad 803 at one end of the dividing line, the two brake connecting pieces 802 are connected at the other end of the dividing line by the tensile elastic member 804, the cam 805 is disposed between the two brake connecting pieces 802 and is located at the same end of the dividing line as the tensile elastic member 804, the output end of the brake driving member 806 is fixedly connected with the cam 805, and drives the cam 805 to rotate to prop apart one end of the, and the brake pads 803 at the other end of the brake connecting plate 802 are engaged to clamp the brake track 812 arranged on the overhead track 6, so as to realize auxiliary braking, and when the brake driving member 806 drives the cam 805 to rotate reversely, the brake connecting plate 802 automatically resets under the action of the tension elastic member 804, and the two brake pads 803 are sprung to reset until being separated from the brake track 812, at this time, the brake is stopped.

The brake block 803 is slidably disposed on the brake support bracket 801 and has a degree of freedom in a direction perpendicular to the contact surface of the brake track 812, the brake block 803 is movably coupled to the brake attachment lug 802, and the brake block 803 moves with the brake support bracket 801 as the brake attachment lug 802 rotates. Therefore, the degree of freedom of the brake pads 803 on the brake support frame 801 is limited, so that the two brake pads 803 and the brake track 812 are kept in a horizontal state during braking, the friction contact area during braking can be increased, the braking friction force is increased, the braking efficiency is improved, and the service life of the brake pads 803 is prolonged.

The brake support frame 801 is provided with a sliding groove 807 along the sliding direction of the brake pad 803, and the brake pad 803 is provided with a second movable shaft 808 extending into the sliding groove 807, so that the brake pad 803 can move along the sliding groove 807 direction. The degree of freedom of the brake pads 803 can be determined by the cooperation of the second movable shaft 808 with the sliding grooves 807. Preferably, the sliding grooves 807 of the two brake pads 803 are located on the same vertical line.

The end of the brake connecting piece 802 is further provided with a brake pad connecting piece 809, a waist hole for the second movable shaft 808 to pass through is processed on the brake pad connecting piece 809, the length of the waist hole is larger than that of the second movable shaft 808, and when the brake connecting piece rotates, the brake pad connecting piece moves along with the brake connecting piece and moves along with the brake pad 803 in the waist hole through the displacement of the second movable shaft 808 in the sliding groove 807. The shape of the kidney hole is designed to be generally in the direction of the brake attachment plate 802 so that when the brake attachment plate 802 is rotated, it has sufficient capacity to release the relative displacement between the brake attachment plate 802 and the brake pad 803 in a direction parallel to the braking interface. In addition, the second movable shaft 808, the sliding groove 807 and the waist hole are axially positioned and fixed, and the positioning and fixing can be realized by adopting structures such as a snap spring or a nut. The brake pad connecting member 809 can adopt an inverted U-shaped structural design, through waist holes are processed on two side walls of the brake pad connecting member 809, the top of the brake pad 803 is placed into the inverted U-shaped structure of the brake pad connecting member 809, two sides of the brake pad 803 protrude outwards horizontally to form a second movable shaft 808, and the second movable shaft 808 penetrates through the waist holes and the sliding groove 807 respectively.

The shape of the cam 805 preferably satisfies: when the cam 805 rotates to the vertical position, the two brake pads 803 on the other side are relatively engaged with the brake track 812, and when the cam 805 rotates to the horizontal position, the two brake pads 803 on the other side are relatively sprung away from the brake track 812. The shape of the cam 805 is similar to an ellipse, and the ends of the two brake connecting pieces 802 are also processed into an arc surface or the like which is matched with the surface of the cam 805 as much as possible, so that smoothness between the cam 805 and the brake connecting pieces 802 can be ensured when the cam 805 rotates.

The brake support frame 801 is movably provided with a buffer plate 810, the buffer plate 810 is provided with a brake driving member 806, and a second buffer elastic member 811 is arranged between the buffer plate 810 and the brake support frame 801. Because the shapes of the cam 805 and the two brake connecting plates 802 are not vertically symmetrical, when the brake driving member 806 drives the cam 805 to rotate, pressure on an output shaft of the brake driving member 806 is generated, and thus, after long-time operation, the brake driving member 806 is easily damaged, and therefore, by arranging the buffer plate 810 and the second buffer elastic member 811, the cam 805 can be driven to rotate by the brake driving member 806, so that when the brake pad 803 is in a braking state, the pressure on the output shaft of the brake driving member 806 by the brake connecting plates 802 and the like can be released, and the service life of the brake driving member 806 is further prolonged.

The second buffer elastic member 811 is a buffer spring having a degree of freedom in a direction perpendicular to the braking interface of the brake pad 803, and the pressure in this direction can be released by the relative movement between the buffer plate 810 and the brake support bracket 801 in the direction perpendicular to the braking interface of the brake pad 803.

The buffer plate 810 is slidably connected to the brake support frame 801, and the sliding direction of the buffer plate and the brake support frame is the same as the relative movement direction of the two brake pads 803. The brake actuating member 806 is a brake actuator. The tensioned elastic member 804 is a tension spring.

Specifically, when the steering engine (i.e., the brake driving member 806) drives the cam 805 to rotate to a transverse position (at this time, the size of the cam 805 in the vertical direction is small), the two brake connecting pieces 802 are tightened under the action of the tensile elastic member 804 (i.e., the tension spring), the two brake pads 803 are driven to move away from the brake supporting frame 801 relatively, i.e., the brake pads 803 spring away and are separated from the brake track 812, and at this time, the dish-serving robot is in a braking state, and can run on the track; when the steering engine (i.e. the brake driving member 806) drives the cam 805 to rotate to a vertical position (at this time, the size of the cam 805 in the vertical direction is larger), the two brake connecting pieces 802 are unfolded against the acting force of the tension elastic member 804 (i.e. the tension spring), the two brake pads 803 are driven to move relatively close to each other on the brake supporting frame 801, i.e. the brake pads 803 are engaged and tightly clamp the brake track 812, and at this time, in a braking state, the dish transferring robot immediately stops running.

The foregoing description of the embodiments has been presented only to facilitate an understanding and appreciation of the invention by those skilled in the art and to enable a selection of some exemplary combinations of the foregoing embodiments. It will be readily apparent to those skilled in the art that various modifications may be made to the embodiments (e.g., selecting different embodiments to combine or implement separately), and of course, the generic principles described herein may be applied to other embodiments without the use of inventive faculty. Therefore, the present invention is not limited to the above embodiments, and those skilled in the art should make improvements and modifications within the scope of the present invention based on the disclosure of the present invention.

Claims

1. The utility model provides a biography dish robot suitable for overhead track, includes the robot frame, sets up at the drive wheel subassembly of robot frame bottom and installs the leading wheel subassembly at the robot frame lateral part, its characterized in that, the robot frame have bottom open-ended cavity, still install elevating system at robot frame top, this elevating system's expansion end stretches into in the cavity and a fixed connection dish case to drive by elevating system and pass dish case oscilaltion and remove.

2. A dish transferring robot adapted for use on an overhead track as claimed in claim 1, wherein the robot housing is defined by an upper support plate, a lower support plate and side support plates, wherein the lower support plate has the bottom opening formed therein and the upper support plate has the lifting mechanism disposed thereon.

3. A dish transferring robot adapted for use on an overhead track as claimed in claim 1 or 2, wherein the bottom opening is no smaller in size than the side of the dish transferring box.

4. A dish transferring robot suitable for an overhead track as claimed in claim 1, wherein the lifting stroke of the lifting mechanism satisfies: when the lifting mechanism ascends, the dish conveying box is driven by the lifting mechanism to ascend and enter from the bottom opening until all or part of the dish conveying box is hidden in the hollow cavity, and when the lifting mechanism descends, the dish conveying box is driven by the lifting mechanism to leave the hollow cavity from the bottom opening until the dish conveying position above the dining table area.

5. The dish conveying robot suitable for the overhead track according to claim 1, wherein a lithium battery pack is further arranged on the robot frame.

6. A dish conveying robot for an overhead track as claimed in claim 1, wherein the drive wheel assembly comprises two in-wheel motors disposed at one pair of angular positions of the robot frame, and two road wheels mounted at the other pair of angular positions of the robot frame, wherein the in-wheel motors are mounted to the robot frame via a steering assembly, and the road wheels are mounted to the robot frame via a gimbal assembly.

7. A dish conveying robot suitable for an overhead track as claimed in claim 1, wherein the robot frame is further provided with a station sensor and a safety collision avoidance sensor.

8. The dish conveying robot suitable for the overhead track as claimed in claim 1, wherein the guide wheel assembly is composed of four guide wheel units respectively arranged at four sides of the robot frame, each guide wheel unit comprises a wheel bracket movably arranged at a side of the robot frame and having a degree of freedom perpendicular to the corresponding side of the robot frame, and a guide wheel mounted on the wheel bracket, and a spring buffer member capable of extending and retracting in a direction perpendicular to the corresponding side of the robot frame is further provided between the wheel bracket and the robot frame.

9. The food conveying robot suitable for the overhead rail of claim 1, wherein the side of the robot frame is further provided with a current collecting device contacting with the trolley line arranged on the overhead rail, the current collecting device comprises a current collector base, a carbon brush head, and an active telescopic member arranged on the current collector base, wherein the active telescopic member is further connected with the carbon brush head and can drive the carbon brush head to approach to or move away from the trolley line.

10. The dish conveying robot suitable for the overhead track as claimed in claim 1, wherein the robot frame is further provided with a brake device, the brake device comprises a brake support frame, two brake pads, and a brake driving mechanism arranged on the brake support frame, wherein the two brake pads are arranged at an interval, the brake driving mechanism is further used for driving and connecting the two brake pads and enabling the two brake pads to be relatively engaged or flicked, and during braking, the brake driving mechanism drives the two brake pads to be relatively engaged and clamp the brake track between the two brake pads.