CN112091986B - Dish transfer robot suitable for overhead rail - Google Patents
Dish transfer robot suitable for overhead rail Download PDFInfo
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- CN112091986B CN112091986B CN202010782297.7A CN202010782297A CN112091986B CN 112091986 B CN112091986 B CN 112091986B CN 202010782297 A CN202010782297 A CN 202010782297A CN 112091986 B CN112091986 B CN 112091986B
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- 238000012546 transfer Methods 0.000 title claims abstract description 64
- 230000007246 mechanism Effects 0.000 claims abstract description 51
- 229910052799 carbon Inorganic materials 0.000 claims description 42
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 40
- 229910052744 lithium Inorganic materials 0.000 claims description 11
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 10
- 238000013459 approach Methods 0.000 claims description 3
- 235000013311 vegetables Nutrition 0.000 claims 3
- 230000005611 electricity Effects 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 15
- 230000008569 process Effects 0.000 abstract description 15
- 230000000712 assembly Effects 0.000 description 5
- 238000000429 assembly Methods 0.000 description 5
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- 230000006872 improvement Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 235000014347 soups Nutrition 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- WABPQHHGFIMREM-UHFFFAOYSA-N lead(0) Chemical compound [Pb] WABPQHHGFIMREM-UHFFFAOYSA-N 0.000 description 1
- 238000012423 maintenance Methods 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
- B25J11/008—Manipulators for service tasks
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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
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- 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)
- Manipulator (AREA)
Abstract
The invention relates to a dish conveying robot suitable for an overhead rail, 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, the top of the robot frame is also provided with a lifting mechanism, and the movable end of the lifting mechanism stretches into the hollow cavity and is fixedly connected with a dish conveying box, and the dish conveying box is driven by the lifting mechanism to move up and down. Compared with the prior art, the dish transfer robot has the functions of autonomous turning and walking on the overhead rail, can improve dish transfer efficiency, and reduces shaking of a dish transfer box in the running process of the dish transfer robot, so that the whole dish transfer process is more efficient and reliable.
Description
Technical Field
The invention belongs to the technical field of dish conveying equipment, and relates to a dish conveying robot suitable for an overhead rail.
Background
The existing intelligent dish transfer robot used in a restaurant generally has two types of running on a ground track and running on an overhead track, the dish transfer robot running on the ground is limited by the topography of the restaurant in the dish transfer process due to the matched meal delivery mode, the defects of low dish transfer efficiency and the like exist, the existing overhead dish transfer robot is generally hung on the dish transfer track in a hanging mode and moves along the dish transfer track, and the overhead dish transfer robot also has the defects of unstable running, low safety and the like when running.
For example, chinese patent ZL201821254229.8 discloses an intelligent track dish-transferring system, which adopts an overhead track meal-transferring mode, but when the dish-transferring robot of the patent runs, especially when the robot passes through a turning track, the robot downloads a loading box body to continuously generate inertial shaking, so that dish soup is easy to overflow from a dish, the track construction is complex, a special track transferring device is required to be configured, and when the dish-transferring robot above a front dining table performs dish-transferring action, the rear robot can only wait at the rear, cannot cross the front dish-transferring robot, and the dish-transferring efficiency is lower.
Disclosure of Invention
The invention aims to provide a dish transfer robot suitable for an overhead rail, so as to solve the problems of easy shaking, poor stability, low dish transfer efficiency and the like in the dish transfer process of the conventional dish transfer robot.
The aim of the invention can be achieved by the following technical scheme:
The utility model provides a pass dish robot suitable for overhead rail, 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 the robot frame top, the expansion end of this elevating system stretches into in the cavity and a fixed connection pass dish case to drive the lift of passing dish case and remove by elevating system oscilaltion.
Further, the robot frame is surrounded by upper portion backup pad, lower part backup pad and lateral part backup pad, wherein, processing has in the lower part backup pad bottom opening is provided with on the upper portion backup pad elevating system.
Further, the size of the bottom opening is not smaller than the side size of the dish transferring box, so that the dish transferring box can enter and exit the hollow cavity along the bottom opening.
Further, the lifting stroke of the lifting mechanism meets the following conditions: 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 box is located at a dish conveying position above a dining table area.
Further, a lithium battery pack is further arranged on the robot frame, when the dish transfer robot is at a position separated from the trolley line through a switch opening and the like, the lithium battery pack is used as a standby power supply to continuously supply power to the dish transfer robot, so that the dish transfer robot can continuously and normally run, and meanwhile, when the dish transfer robot is connected with the trolley line again, the lithium battery pack is disconnected from the power supply.
Further, the driving wheel assembly comprises two hub motors arranged at one diagonal position of the robot frame and two travelling wheels arranged at the other diagonal position of the robot frame, wherein the hub motors are arranged on the robot frame through steering assemblies, and the travelling wheels are arranged on the robot frame through universal assemblies.
Further, a station sensor and a safety anti-collision sensor are further arranged on the robot frame.
Further, the guide wheel assembly comprises four groups of guide wheel units which are respectively arranged on four sides of the robot frame, each group of guide wheel units comprises a wheel support which is movably arranged on the side of the robot frame and has the freedom degree along the side vertical to the corresponding robot frame, and a guide wheel which is arranged on the wheel support, and a spring buffer piece which can stretch along the direction vertical to the side of the corresponding robot frame is also arranged between the wheel support and the robot frame.
Further, the side part of the robot frame is also provided with a current collecting device which is contacted 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 piece arranged on the current collector base, wherein the active telescopic piece is also connected with the carbon brush head and can drive the carbon brush head to approach to contact with 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 set up the brake actuating mechanism on the brake support frame, wherein, two brake blocks interval sets up relatively and is formed with the braking space that can supply the brake track to put into, brake actuating mechanism still drive and connect two brake blocks to make two brake blocks interlock relatively or spring, during the braking, brake actuating mechanism drives two brake blocks and occludes relatively, and press from both sides the brake track that lies in between two brake blocks.
Compared with the prior art, the invention has the following advantages:
(1) The dish conveying box is fixed at the bottom end of the lifting mechanism, and then, the dish conveying box is restrained by the robot frame, so that the dish conveying boxes can be better restrained and fixed in a mutually matched mode, and excessive shaking of the dish conveying boxes in the running process of the dish conveying robot is avoided, so that dish soup overflows. In addition, the arrangement mode of the hollow cavity body is arranged in the dish conveying box, so that the shaking of the dish conveying box can be assisted and restrained, meanwhile, the hidden transportation of the dish conveying box can be conveniently realized, and further the influence on dining staff can be reduced. In addition, the dish conveying box is arranged on the track plane through the robot frame and the like, and the problem of gravity center deviation does not exist in the dish conveying box in the walking process of the dish conveying robot, so that shaking of the dish conveying box caused by the gravity center problem is eliminated, lateral inertia force easily generated in the walking process due to the fact that a hanging basket mode is adopted by a conventional dish conveying robot is avoided, the guide wheel and the bearing wheel are damaged too early, and the service life of the dish conveying robot can be prevented from being influenced.
(2) The driving wheel assembly at the bottom of the dish-transferring robot adopts four groups of wheels, namely two groups of wheel hub motors and two groups of travelling wheels, the four groups of wheels can rotate at the horizontal position and the wheel hub motors can actively rotate, so that the dish-transferring robot can randomly turn or change direction on a track, the layout of the whole dish-transferring robot becomes more convenient and flexible, and meanwhile, the dish-transferring robot can automatically pass through crossed tracks such as a cross shape and a T shape, so that the setting of a track turning device on an overhead track can be omitted, the travelling route of the dish-transferring robot on the track in the whole dish-transferring process is shortened, the problems of midway queuing, waiting and the like are avoided, and the dish-transferring efficiency of the whole dish-transferring process is obviously improved.
(3) The carbon brush head of the current collecting device is arranged in an active telescopic mode, so that the problems of collision between the carbon brush head and a sliding contact line and the like in the process of a transfer point can be effectively avoided, damage to parts such as the carbon brush head is avoided, and smoothness of the dish transfer robot passing through a rail junction is improved.
(4) The auxiliary braking can be realized by the arrangement of the braking device outside the driving wheel assembly, and particularly, the two braking blocks are driven by the braking driving mechanism to clamp the braking track relatively, so that the rapid braking is realized by clamping the friction track instantly, the whole reaction is rapid, and the braking is reliable.
Drawings
Fig. 1 is a schematic diagram of a front view structure of a dish transfer robot of the present invention;
FIG. 2 is a schematic side view of the dish transfer robot of the present invention;
FIG. 3 is a schematic diagram of a dish transfer box hidden in a hollow cavity;
Fig. 4 is a schematic structural view of a dish transfer robot in the descending process of a dish transfer box;
FIG. 5 is a schematic view of a dish transfer robot traveling on an overhead rail;
FIG. 6 is a schematic diagram of a dish transfer robot during dish transfer;
FIG. 7 is a schematic view of a current collector;
FIG. 8 is a schematic view of a current collector from a lower perspective;
FIG. 9 is a schematic structural view of a brake device;
FIG. 10 is a schematic view of a rear view of the brake assembly;
FIG. 11 is a schematic illustration of a brake assembly and overhead rail;
The figure indicates:
1-a robot frame, 11-an upper support plate, 12-a lower support plate, 13-a side support plate, 14-a bottom opening, and 15-a hollow cavity;
2-driving wheel assemblies, 21-hub motors, 22-travelling wheels, 23-steering assemblies and 24-universal assemblies;
3-guide wheel assembly, 31-guide wheel, 32-wheel bracket, 33-spring buffer;
4-a lifting mechanism;
5-a site sensor;
6-overhead track;
7-current collecting device, 701-current collector base, 702-movable slide block, 703-carbon brush holder, 704-carbon brush head, 705-first buffer elastic piece, 706-connecting rod piece, 707-first driving piece, 708-guide slot, 709-first movable shaft, 710-anti-falling piece, 711-cover plate, 712-driving bracket and 713-outgoing line;
8-braking devices, 801-brake supporting frames, 802-braking connecting sheets, 803-braking sheets, 804-tension elastic pieces, 805-cams, 806-braking driving pieces, 807-sliding grooves, 808-second movable shafts, 809-braking sheet connecting pieces, 810-buffer plates, 811-second buffer elastic pieces and 812-braking tracks;
9-a dish conveying box;
A 10-lithium battery.
Detailed Description
The invention will now be described in detail with reference to the drawings and specific examples. The present embodiment is implemented on the premise of the technical scheme of the present invention, and a detailed implementation manner and a specific operation process are given, but the protection scope of the present invention is not limited to the following examples.
In the following description of the embodiments or examples of the present invention, unnecessary functional components that do not relate to the innovation points or improvement points 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 that connects the power supply and the power consumption components on the dish-transferring robot, and a controller (which may use a PLC system) that coordinates and controls each moving component and the sensor, etc., and if the rest of the functional components or structures are not specifically described, the rest of the functional components or structures are all conventional components or conventional structures for implementing the corresponding functions in the field.
The invention provides a dish conveying robot suitable for an overhead rail, which is structurally 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 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, the top of the robot frame 1 is also provided with a lifting mechanism 4, and the movable end of the lifting mechanism 4 stretches into the hollow cavity 15 and is fixedly connected with a dish conveying box. Preferably, when the lifting mechanism 4 is lifted, the dish transferring box is lifted by the lifting mechanism 4 and enters the hollow cavity 15 from the bottom opening 14 until being fully or partially hidden in the hollow cavity 15, and when the lifting mechanism 4 is lifted, the dish transferring box is lifted by the lifting mechanism 4 and leaves the hollow cavity 15 from the bottom opening 14 until being positioned at a dish transferring position above the dining table area. In the present invention, the lifting mechanism 14 may be a conventional component capable of implementing a corresponding active lifting function, such as a lifting telescopic rod.
In a specific embodiment of the present invention, 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 bottom opening 14 is formed on the lower support plate 12, and the lifting mechanism 4 is disposed on the upper support plate 11.
In one embodiment of the invention, the bottom opening 14 is sized no smaller than the side dimension of the pass 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 switch port and the like are separated from the trolley line, the lithium battery pack 10 is used as a standby power source 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 connected to the trolley line again, 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 dish conveying box through the flange, so that the effect of the fixed connection between the dish conveying box and the lifting mechanism 4 can be improved.
In a specific embodiment of the present invention, referring again to fig. 3, the driving wheel assembly 2 includes two in-wheel motors 21 disposed at one diagonal position of the robot frame 1, and two traveling wheels 22 mounted at the other diagonal position of the robot frame 1, wherein the in-wheel motors 21 are mounted on the robot frame 1 through a steering assembly 23, and the traveling wheels 22 are disposed on the robot frame 1 through a universal assembly 24. The wheel hub motor 21 and the travelling wheels 22 are arranged in a diagonal mode, so that the steering requirement of the dish transfer robot in a left-right 90-degree range can be met, meanwhile, the cost of the driving wheel assembly 2 is reduced, meanwhile, the arrangement of four-wheel drive (only two main driving wheels are actually used as the wheel hub motor 21) is simulated, the travelling stability of the dish transfer robot on the overhead rail 6 is improved, and the dish transfer box cannot shake. Meanwhile, the steering assembly 23 and the universal assembly 24 are adopted to respectively mount the robot frame 1, so that the steering of the driving wheel assembly 2 can be matched better. The steering assembly 23 may be a conventional active steering structure, such as an electric steering device, and the universal assembly 24 may be a conventional universal joint.
In a specific embodiment of the present invention, referring to fig. 3, etc., the robot frame 1 is further provided with a station sensor 5 and a safety collision avoidance sensor. The station sensor 5 can identify the target table position by detecting a station tag provided on the table. The safety 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-transferring robots and feeding corresponding information back to the dish-transferring robots.
In a specific embodiment of the present invention, referring again to fig. 1, etc., the guide wheel assembly 3 is composed of four sets of guide wheel units respectively disposed on four sides of the robot frame 1, each set of guide wheel units including a wheel bracket 32 movably disposed on the side of the robot frame 1 and having a degree of freedom in a direction perpendicular to the side of the corresponding 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 side of the corresponding robot frame 1 is further provided between the wheel bracket 32 and the robot frame 1. The spring buffer 33 may employ a conventional compression spring.
In a specific embodiment of the invention, the dish transferring box is not limited to a common box structure, and other supporting structures capable of placing dishes, such as an openable empty box, can be adopted. The tray body is also provided with a placement groove which is matched with the bottom of the dish plate. And a dish detection sensor for detecting whether a dish is placed on the dish transfer tray or not is further arranged on the dish transfer 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 portion of the robot frame 1 is further provided with a current collecting device 7 contacting with a 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 disposed on the current collector base 701, where the active telescopic member is further connected to the carbon brush head, and can drive the carbon brush head to approach to contact with or separate from the trolley line through self-expansion. In a more specific embodiment, referring to fig. 7 and 8, the active telescopic member may include a movable slider 702, a carbon brush holder 703, a first buffer elastic member 705, a connecting rod 706, a first driving member 707, and the like, where the movable slider 702 is slidably disposed on the current collector base 701 and has a degree of freedom along a direction approaching or separating from the trolley line, the carbon brush holder 703 is movably disposed on the movable slider 702 and also has a degree of freedom approaching or separating 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 a lead wire 713, the first buffer elastic member 705 is disposed between the carbon brush holder 703 and the movable slider 702, two ends of the connecting rod 706 are respectively connected to the first driving member 707 and the movable slider 702, and the connecting rod 706 is driven by the first driving member 707 to move the movable slider 702 and the carbon brush head 704 along the direction approaching or separating from the trolley line.
In a specific embodiment of the present invention, as shown in fig. 9 and 10, the robot frame 1 is further provided with a brake device 8, where the brake device includes a brake support 801, two brake pads 803, and a brake driving mechanism disposed on the brake support 801, where the two brake pads 803 are disposed opposite to each other at intervals and form a brake space for placing a brake track, and the brake driving mechanism is further configured to connect the two brake pads, and make the two brake pads relatively engage or spring open, and during braking, the brake driving mechanism drives the two brake pads to engage and clamp the brake track between the two brake pads. In a more specific embodiment, as shown in fig. 9 and 10, the brake driving mechanism may include two brake connection pieces 802, a tension elastic member 804, a cam 805, a brake driving member 806, and the like, where the middle position of the brake connection piece 802 is rotatably installed on the brake support frame 801, a connection line of the rotational connection points of the two brake connection pieces 802 and the brake support frame 801 is used as a boundary line, the brake connection piece 802 is installed at one end of the boundary line, the other ends of the two brake connection pieces 802 at the boundary line are connected by the tension elastic member 804, the cam 805 is disposed between the two brake connection pieces 802 and is located at the same end of the boundary line with the tension elastic member 804, and the output end of the brake driving member 806 is fixedly connected with the cam 805 and can drive the cam 805 to rotate to prop open one end of the two brake connection pieces 802, and make the brake connection piece 803 at the other end of the brake connection piece 802 relatively close to clamp a brake track 812 disposed on the overhead track 6, so as to realize auxiliary braking.
In the above embodiments, any one of them may be used alone, or any combination of two or more of them may be used in combination.
The above embodiments are described in more detail below in connection with specific examples.
Example 1:
The embodiment provides a dish transferring robot suitable for an overhead rail, the structure of which is shown in fig. 1 and 2, including a robot frame 1, a driving wheel assembly 2 arranged at the bottom of the robot frame 1, and a guide wheel assembly 3 installed at the side of the robot frame 1, the robot frame 1 has a hollow cavity 15 with an opening 14 at the bottom, a lifting mechanism 4 is further installed 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 dish transferring box, and when the lifting mechanism 4 ascends, the dish transferring box is driven by the lifting mechanism 4 to ascend and enters the hollow cavity 15 along the opening 14 until being totally or partially hidden in the hollow cavity 15, and when the lifting mechanism 4 descends, the dish transferring box is driven by the lifting mechanism 4 to descend and leave the hollow cavity 15 until being positioned at a dish transferring position above a dining table area.
Referring to fig. 1-4, the robot frame 1 is surrounded by an upper support plate 11, a lower support plate 12, and a side support plate 13, wherein a bottom opening 14 is formed on the lower support plate 12, and a lifting mechanism 4 is disposed on the upper support plate 11. The size of the bottom opening 14 is not smaller than the side size of the pass box. The movable end of the lifting mechanism 4 is fixedly connected with the top of the dish conveying box through the flange plate, so that the fixed connection effect between the dish conveying box and the lifting mechanism 4 can be improved.
Referring again to fig. 3, etc., the driving wheel assembly 2 includes two in-wheel motors 21 disposed at one diagonal position of the robot frame 1, and two traveling wheels 22 mounted at the other diagonal position of the robot frame 1, wherein the in-wheel motors 21 are mounted 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 wheel hub motor 21 and the travelling wheels 22 are arranged in a diagonal mode, so that the steering requirement of the dish transfer robot in the range of 90 degrees can be met, and meanwhile, the cost of the driving wheel assembly 2 is reduced. Meanwhile, the steering assembly 23 and the universal assembly 24 are adopted to respectively mount the robot frame 1, so that the steering of the driving wheel assembly 2 can be matched better. The steering assembly 23 may be a conventional active steering structure, such as an electric steering device, and the universal assembly 24 may be a conventional universal joint.
Referring to fig. 3, a station sensor 5 and a safety collision sensor are further disposed on the robot frame 1. The station sensor 5 can identify the target table position by detecting a station tag provided on the table. The safety 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-transferring robots and feeding corresponding information back to the dish-transferring robots.
Referring again to fig. 1 and the like, 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 units including a wheel bracket 32 movably disposed on the side of the robot frame 1 and having a degree of freedom in a direction perpendicular to the side of the corresponding 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 side of the corresponding robot frame 1 is further provided between the wheel bracket 32 and the robot frame 1. The spring buffer 33 may employ a conventional compression spring.
When a dish tray is placed in the dish transfer box, the dish transfer robot runs on the overhead rail 6, as shown in fig. 3 and 5, and at this time, the dish transfer box is hidden in the hollow cavity 15 of the robot frame 1. When the dish transfer robot runs to the upper part of the dining table area, the lifting mechanism 4 on the dish transfer robot acts to drive the dish transfer box to descend to the tabletop, so that dishes in the dish transfer box can be taken out conveniently by google. In the dish transferring process, when the dish transferring robot runs to the intersection of the overhead rail 6, the hub motor 21 rotates 90 degrees to change the running direction of the dish transferring robot, the travelling wheels 22 are arranged at the opposite angles of the other two ends of the frame type rack, and when the hub motor 21 changes the running direction, the direction of the travelling wheels 22 is changed through the universal assembly 24. 2 groups of guide wheel units are respectively arranged in four directions on the side part of the robot frame 1, so that the intelligent dish conveying robot can stably run on a track. In addition, a group of safety anti-collision sensors are respectively arranged at the four sides of the robot frame 1, and the robot is informed to start braking when encountering a front stop trolley or an obstacle during running, so as to stop running.
In this embodiment, the lithium battery pack 10 is further disposed on the robot frame 1, when the dish-transferring robot passes through the position of the switch and the like, which is separated from the trolley line, the lithium battery pack 10 is used as a standby power source 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 connected to the trolley line again, the lithium battery pack 10 is disconnected from the power supply.
Example 2:
On the basis of embodiment 1, this embodiment further employs the following arrangement:
The side of the robot frame 1 is further provided with a current collector 7 contacting with a trolley line arranged on the overhead rail 6, as shown in fig. 7 and 8, the current collector 7 comprises a current collector base 701, a movable slider 702, a carbon brush seat 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 slider 702 is slidably arranged on the current collector base 701 and has a degree of freedom in a direction approaching or separating from the trolley line, the carbon brush seat 703 is movably arranged on the movable slider 702 and also has a degree of freedom approaching or separating from the trolley line, the carbon brush head 704 is fixedly arranged on the carbon brush seat 703 and is connected with a power taking structure arranged on the robot frame 1 through a outgoing line 713, the first buffer elastic member 705 is arranged between the carbon brush seat 703 and the movable slider 702, and two ends of the connecting rod 706 are respectively connected with the first driving member 707 and the movable slider 702, and the connecting rod 706 is driven by the first driving member 707 to move the movable slider 702 and the carbon brush head 704 in the direction approaching or separating from the trolley line.
In this embodiment, the connecting rod 706 is a connecting rod with one end fixedly connected with the output end of the first driving member 707 and driven to rotate by the first driving member 707, a bar-shaped hole is machined on the other end of the connecting rod, a first movable shaft 709 disposed in the bar-shaped hole is disposed at the bottom of the movable slider 702, and the size of the bar-shaped hole is as follows: when the connecting rod rotates along with the first driving member 707 in the forward and reverse directions, the first movable shaft 709 moves back and forth in the bar-shaped hole, and drives the movable slider 702 to slide on the collector base 701 in a direction approaching or separating from the sliding wire. At this time, in cooperation with the movement of the first movable shaft 709 in the bar-shaped hole, the connection rod 706 can convert the rotation of the first driving member 707 into the linear movement of 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 output end of the first driving piece 707 are fixedly connected, and the end part of the connecting part is provided with a strip-shaped hole penetrating through two side walls of the U-shaped section. The connecting rod is divided into the flange part and the connecting part, so that the connecting rod can be conveniently connected with the first driving piece 707 and the first movable shaft 709 according to the requirement, and meanwhile, the subsequent maintenance and replacement are also convenient. The flange portion and the first driving member 707 may be connected by a bolt structure or the like.
The first movable shaft 709 is provided with a slip-off prevention member 710 on an end thereof passing through the bar-shaped hole. More preferably, the anti-falling member 710 is a snap spring. The provision of the anti-disengagement member 710 ensures that disengagement between the connection link 706 and the first moveable shaft 709 during operation is avoided.
The current collector base 701 is provided with a guide slot 708 in a direction approaching or separating from the trolley line, the width of the guide slot 708 matches the first movable shaft 709, and the first movable shaft 709 passes through the guide slot 708 and is placed in the bar-shaped hole. Meanwhile, a cover plate 711 is fixedly installed at the bottom of the collector base 701, and a guide groove 708 is formed in the cover plate 711. At this time, the sliding portion of the movable slider 702 may be interposed between the collector base 701 and the cover plate 711, so that the movable slider 702 may be restrained in a direction perpendicular to the collector base 701.
The sliding travel of the movable slider 702 on the collector base 701 satisfies: when the movable slider 702 moves to the maximum in the direction approaching the trolley line on the collector base 701 during the running process of the dish transfer robot in the track, the carbon brush head 704 contacts the trolley line, and the first buffer elastic piece 705 is in a compressed state; when the movable slider 702 moves to the maximum in the direction away from the trolley line at 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, the achievement of the object of the present invention, that is, the avoidance of abnormal collision or the like between the carbon brush head 704 and the trolley wire at the time of rail conversion, can be ensured within the movement stroke of the movable slider 702. Two carbon brush heads 704 and two carbon brush holders 703 are respectively and correspondingly arranged on the movable slide block 702. The first drive member 707 is a steering engine mounted on a drive bracket 712 that is fixedly coupled to the current collector base 701; the first buffer elastic member 705 is a buffer spring.
The telescopic current collector can control the current collector carbon brush head 704 to retract when the dish transfer robot passes through the transfer point during operation, at this time, in order to further improve the passing smoothness of the dish transfer robot at various transfer points, the dish transfer robot can also supply power for a short time through a built-in standby battery, the design accuracy of the dish transfer robot running on a track can also be properly widened, the manufacturing cost is reduced, when the dish transfer robot passes through the transfer point, the carbon brush head 704 of the current collector is controlled to extend out to be in close contact with the trolley line, the dish transfer robot is continuously supplied with power, and therefore the problems of abnormal collision and the like between the carbon brush head 704 and the trolley line in the process of the transfer point can be effectively avoided, and the damage of parts such as the carbon brush head 704 and the like is avoided.
Example 3:
On the basis of embodiment 1 or embodiment 2, this embodiment further adopts the following arrangement:
Referring to fig. 9-11, a brake device 8 is further provided on the robot frame 1, the brake device 8 includes a brake support frame 801, two brake connection pieces 802, a brake piece 803, a tension elastic member 804, a cam 805, and a brake driving member 806, the middle position of the brake connection piece 802 is rotatably installed on the brake support frame 801, a line connecting the rotational connection points of the two brake connection pieces 802 and the brake support frame 801 is used as a boundary line, the brake connection piece 802 is installed at one end of the boundary line, the two brake connection pieces 802 are connected at the other end of the boundary line by the tension elastic member 804, the cam 805 is disposed between the two brake connection pieces 802 and is located at the same end of the boundary line with the tension elastic member 804, the output end of the brake driving member 806 is fixedly connected with the cam 805, and can drive the cam 805 to rotate to prop open one end of the two brake connection pieces 802, and enable the brake piece 803 at the other end of the brake connection piece 802 to be meshed to clamp a brake rail 812 disposed on an overhead rail 6, thereby realizing auxiliary braking, and when the brake driving member 805 drives the cam 805 to rotate reversely, the brake connection piece 802 is automatically reset under the action of the tension elastic member 804, and the brake connection piece 802 is reset until the brake piece 803 is reset and is released.
The brake pad 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 rail 812, the brake pad 803 is movably connected with the brake connecting piece 802, and the brake pad 803 moves on the brake support bracket 801 as the brake connecting piece 802 rotates. Like this, through the restriction to the degree of freedom of brake block 803 on brake support frame 801 for two brake blocks 803 keep the horizontality with brake track 812 during the brake, thereby friction area when can increasing the brake increases the brake friction, improves brake efficiency and increases the life of brake block 803.
The brake support 801 is provided with a sliding groove 807 extending 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. The degree of freedom of the brake pad 803 can be determined by the manner in which the second movable shaft 808 cooperates with the chute 807. Preferably, the corresponding runners 807 of the two brake pads 803 are located on the same vertical line.
The end of the brake pad 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 pad rotates, the brake pad connecting piece moves along with the brake pad and moves in the waist hole through the displacement of the second movable shaft 808, so that the brake pad 803 moves along with the movement in the chute 807. The waist hole is shaped in a general direction along the brake pad 802 so that it has sufficient capacity to release the relative displacement between the brake pad 802 and the brake pad 803 in a direction parallel to the brake interface when the brake pad 802 is rotated. In addition, the second movable shaft 808 and the sliding groove 807, and the waist hole are all kept axially positioned and fixed, and can be realized by adopting structures such as a clamping spring or a nut. The brake pad connecting piece 809 can adopt an inverted U-shaped structure, two side walls of the inverted U-shaped structure are respectively provided with a through waist hole, the top of the brake pad 803 is arranged in the inverted U-shaped structure of the brake pad connecting piece 809, two sides of the brake pad 803 horizontally protrude outwards to form a second movable shaft 808, and the second movable shaft 808 respectively penetrates through the waist holes and the sliding grooves 807.
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 snapped to close to the brake rail 812, and when the cam 805 rotates to the lateral position, the two brake pads 803 on the other side are relatively sprung to be separated from the brake rail 812. The shape of the cam 805 is similar to an ellipse, and the end portions of the two brake connecting pieces 802 are also processed into arc surfaces and the like which are 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, a brake driving piece 806 is arranged on the buffer plate 810, and a second buffer elastic piece 811 is further arranged between the buffer plate 810 and the brake support frame 801. Because the shapes of the cam 805 and the two brake connecting pieces 802 are not vertically symmetrical, when the brake driving piece 806 drives the cam 805 to rotate, pressure on an output shaft of the brake driving piece 806 is generated, and thus, after long-time working, the brake driving piece 806 is easy to damage, and therefore, by arranging the buffer plate 810 and the second buffer elastic piece 811, the cam 805 can be driven to rotate by the brake driving piece 806, so that when the brake pad 803 is in a braking state, the pressure on the output shaft of the brake driving piece 806 by the brake connecting piece 802 and the like can be released, and the service life of the brake driving piece 806 is further prolonged.
The second buffer elastic member 811 is a buffer spring having a degree of freedom along a braking interface perpendicular to the brake pad 803, and can release pressure in this direction by a relative movement between the buffer plate 810 and the brake supporting frame 801 at the braking interface perpendicular to the brake pad 803.
The buffer plate 810 is slidably connected to the brake support 801, and the sliding direction of the buffer plate 810 and the brake support is the same as the relative moving direction of the two brake pads 803. The brake actuator 806 is a brake steering engine. The tension elastic member 804 is a tension spring.
The specific work is that when a steering engine (namely a brake driving piece 806) drives a cam 805 to rotate to a transverse position (at the moment, the size of the cam 805 in the vertical direction is smaller), two brake connecting pieces 802 are tightened under the action of a tension elastic piece 804 (namely a tension spring), two brake pads 803 are driven to relatively move away on a brake supporting frame 801, namely the brake pads 803 spring and are separated from a brake track 812, at the moment, in a charge braking state, a dish transfer robot 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 dimension of the cam 805 in the vertical direction is larger), the two brake connecting pieces 802 are spread against the acting force of the tension elastic member 804 (i.e. the tension spring), the two brake pads 803 are driven to relatively move close to each other on the brake support frame 801, i.e. the brake pads 803 are engaged and tightly clamp the brake rail 812, at this time, in a braking state, the dish transfer robot can immediately stop running.
The above description of the embodiments is provided merely to facilitate a person of ordinary skill in the art to make and use the invention and to provide some exemplary combination choices for the above embodiments. It will be apparent to those skilled in the art that various modifications to these embodiments (e.g., selection of different implementations for combination or separate implementations) can be readily made, and that the general principles described herein may be applied to other embodiments without the inventive faculty. Therefore, the present invention is not limited to the above-described embodiments, and those skilled in the art, based on the present disclosure, should make improvements and modifications without departing from the scope of the present invention.
Claims (8)
1. The vegetable conveying robot suitable for the overhead rail 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, and is characterized in that the robot frame is provided with a hollow cavity with an opening at the bottom, the top of the robot frame is also provided with a lifting mechanism, the movable end of the lifting mechanism stretches into the hollow cavity and is fixedly connected with a vegetable conveying box, and the vegetable conveying box is driven by the lifting mechanism to move up and down;
The side part of the robot frame is also provided with a current collecting device which is contacted with a sliding contact line arranged on the overhead rail, the current collecting device comprises a current collector base, a carbon brush head and an active telescopic piece arranged on the current collector base, wherein the active telescopic piece is also connected with the carbon brush head and can drive the carbon brush head to approach to contact with or be far away from the sliding contact line;
The active telescopic piece comprises a movable slide block, a carbon brush seat, a first buffer elastic piece, a connecting rod piece and a first driving piece, wherein the movable slide block is arranged on a current collector base in a sliding way and has the degree of freedom along the direction approaching or far away from a sliding contact line, the carbon brush seat is movably arranged on the movable slide block and also has the degree of freedom approaching or far away from the sliding contact line, the carbon brush head is fixedly arranged on the carbon brush seat and is connected with an electricity taking structure arranged on a robot frame through a lead-out wire, the first buffer elastic piece is arranged between the carbon brush seat and the movable slide block, two ends of the connecting rod piece are respectively connected with the first driving piece and the movable slide block, and the connecting rod piece is driven by the first driving piece to drive the movable slide block and the carbon brush head to move along the direction approaching or far away from the sliding contact line;
the robot frame is also provided with a brake device, the brake device comprises a brake support frame, two brake blocks and a brake driving mechanism arranged on the brake support frame, wherein the two brake blocks are arranged at intervals, the brake driving mechanism is also in driving connection with the two brake blocks and enables the two brake blocks to be relatively engaged or sprung out, and when in braking, the brake driving mechanism drives the two brake blocks to be relatively engaged and clamps a brake track between the two brake blocks;
The brake driving mechanism comprises two brake connecting pieces, a tension elastic piece, a cam and a brake driving piece, wherein the middle position of the brake connecting piece is rotatably arranged on a brake supporting frame, a connecting line of a rotation connecting point of the two brake connecting pieces and the brake supporting frame is used as a dividing line, the brake connecting pieces are arranged at one end of the dividing line, the other ends of the two brake connecting pieces are connected by the tension elastic piece, the cam is arranged between the two brake connecting pieces and is positioned at the same end of the dividing line with the tension elastic piece, the output end of the brake driving piece is fixedly connected with the cam and can drive the cam to rotate so as to prop up one ends of the two brake connecting pieces, and the brake connecting pieces at the other ends of the brake connecting pieces are relatively close to each other so as to clamp a brake rail arranged on an overhead rail, and auxiliary braking is realized.
2. The dish transferring robot for overhead rail according to claim 1, wherein the robot frame is surrounded by an upper support plate, a lower support plate and a side support plate, wherein the bottom opening is formed in the lower support plate, and the lifting mechanism is disposed on the upper support plate.
3. A dish transfer robot for use in an overhead rail according to claim 1 or 2, wherein the bottom opening is not smaller in size than the side of the dish transfer box.
4. A dish transfer robot suitable for use in an overhead track according to claim 1, wherein the lifting travel 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 box is located at a dish conveying position above a dining table area.
5. The dish transfer robot suitable for the overhead rail according to claim 1, wherein a lithium battery pack is further arranged on the robot frame.
6. A dish transfer robot adapted for use with an overhead track according to claim 1, wherein the drive wheel assembly comprises two in-wheel motors disposed at one diagonal of the robot frame and two road wheels mounted at the other diagonal 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 universal assembly.
7. The dish transferring robot suitable for the overhead rail according to claim 1, wherein the robot frame is further provided with a station sensor and a safety anti-collision sensor.
8. A dish transferring robot suitable for overhead rails according to claim 1, characterized in that the guide wheel assembly consists of four sets of guide wheel units arranged on four sides of the robot frame, respectively, each set of guide wheel units comprising a wheel support movably arranged on the side of the robot frame and having a degree of freedom in a direction perpendicular to the corresponding robot frame side, and guide wheels mounted on the wheel support, and a spring buffer member being retractable in a direction perpendicular to the corresponding robot frame side being further provided between the wheel support and the robot frame.
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| CN202010782297.7A CN112091986B (en) | 2020-08-06 | 2020-08-06 | Dish transfer robot suitable for overhead rail |
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| CN202010782297.7A CN112091986B (en) | 2020-08-06 | 2020-08-06 | Dish transfer robot suitable for overhead rail |
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| CN112091986B true CN112091986B (en) | 2024-05-31 |
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