CN112606017B - Automatic fixing tray for service robot - Google Patents
Automatic fixing tray for service robot Download PDFInfo
- Publication number
- CN112606017B CN112606017B CN202011469412.1A CN202011469412A CN112606017B CN 112606017 B CN112606017 B CN 112606017B CN 202011469412 A CN202011469412 A CN 202011469412A CN 112606017 B CN112606017 B CN 112606017B
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- box
- tray
- threaded rod
- fixedly connected
- service robot
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an automatic fixing tray for a service robot, which comprises a tray body, wherein a stabilizing box is arranged at the lower side of the tray body, two fixing frames are fixedly connected to the upper end of the stabilizing box, a connecting guide rail is fixedly connected to the upper end of each fixing frame, a connecting strip is fixedly connected to the lower end of the tray body, a T-shaped connecting groove is formed in the lower end of the connecting strip, a clamping plate is slidably connected to the inner side wall of each fixing frame, two adjusting threaded rods are rotatably connected to the inner side wall of each stabilizing box, and two threads with opposite rotating directions are arranged on the adjusting threaded rods. According to the invention, by arranging the clamping plate, the robot palm between the clamping plate and the fixing frame can be stably and accurately clamped, and the instability of placement and support of the tray is reduced; through setting up the bracing piece, the accessible bracing piece further reinforces the support to the tray body, further strengthens the stability of tray body.
Description
Technical Field
The invention relates to the technical field related to service robots, in particular to an automatic fixing tray for a service robot.
Background
The service robot can be divided into a professional field service robot and a personal/family service robot, has a wide application range, is mainly used for maintenance, repair, transportation, cleaning, security, rescue, monitoring and the like, and can even use a tray to present menus, food, drinks and the like to serve guests in higher restaurants and hotels.
However, a common service robot does not have a tray for matching use, and the tray is directly erected on the palm of the robot when the robot presents food or drinks, but the direct placement of the tray is likely to cause sliding or toppling of the articles on the tray due to insufficient fixity, and the tray is even separated from the palm of the robot due to insufficient fixity between the tray and the palm of the robot.
Disclosure of Invention
The invention aims to provide an automatic fixing tray for a service robot, which solves the problem of insufficient stability of the tray in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: an automatic fixing tray for a service robot comprises a tray body, wherein a stabilizing box is arranged on the lower side of the tray body, two fixing frames are fixedly connected to the upper end of the stabilizing box, a T-shaped connecting guide rail is fixedly connected to the upper end of each fixing frame, a connecting strip matched with the connecting guide rail is fixedly connected to the lower end of the tray body, a T-shaped connecting groove matched with the connecting guide rail is formed in the lower end of the connecting strip, a clamping plate is slidably connected to the inner side wall of each fixing frame, two horizontally arranged adjusting threaded rods are rotatably connected to the inner side wall of each stabilizing box, two threads with opposite rotating directions are arranged on the adjusting threaded rods, adjusting sleeves are sleeved on the two threads, adjusting rods are rotatably connected to the upper ends of the adjusting rods on the same adjusting threaded rod, a driving mechanism for driving the adjusting threaded rods to rotate is arranged on the outer side of the stabilizing box, stabilize box upper end and rotate the stable threaded rod that is connected with two vertical settings, the threaded sleeve has been cup jointed to the last screw thread of stable threaded rod, and two the support sleeve passes through dead lever fixed connection, it is connected with two spinal branch vaulting poles to rotate on the support sleeve lateral wall, the upper end of the support rod rotates and is connected with the backup pad, be equipped with in the stable box and be used for the transmission to stabilize threaded rod pivoted drive mechanism.
Preferably, the grip block is close to equal fixedly connected with sliding block on the lateral wall of fixed frame, fixed frame inside wall be equipped with sliding block assorted sliding tray, sliding block and sliding tray sliding connection.
Preferably, actuating mechanism includes the drive box, drive box fixed connection is in stabilizing the box lateral wall, two the one end that adjusting threaded rod is close to the drive box all rotates and runs through and stabilize the box lateral wall and rotate and connect in the drive box inside wall, be equipped with the worm that the level set up in the drive box, and two the position that corresponds the worm on the adjusting threaded rod all fixed the cup joint has the worm wheel, worm and worm wheel intermeshing.
Preferably, the outer side wall of the drive box is fixedly provided with a motor, the output end of the motor is rotatably penetrated through the side wall of the drive box and is coaxially and fixedly connected with one end of a worm, and the other end of the worm is rotatably connected to the inner side wall of the drive box.
Preferably, the upper end of the clamping plate and the inner top surface of the fixing frame are fixedly connected with connecting gaskets.
Preferably, the side wall of the supporting sleeve is fixedly connected with an installation seat, and the lower end of the supporting rod is rotatably connected with the installation seat through a coil spring.
Preferably, drive mechanism includes the pivot of two level settings, two all the fixed cover in the pivot and on two adjusting threaded rod has connected the belt pulley, and is a plurality of the belt pulley passes through the belt and transmits each other.
Preferably, the rotating shaft and the lower end of the stabilizing threaded rod are fixedly sleeved with bevel gears, and the two bevel gears are meshed with each other.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the clamping plate and the fixed frame are arranged, the adjusting threaded rod is rotated through the driving mechanism, the clamping plate is jacked upwards through the adjusting rod, the clamping plate slowly presses close to the upper end of the fixed frame, and finally, the robot palm between the clamping plate and the fixed frame is stably and accurately clamped, so that the situations that the tray and articles placed on the tray slide and fall due to unstable placement and support of the tray are reduced.
2. According to the invention, the connecting guide rail and the supporting rod are arranged, and the connecting guide rail and the connecting groove at the lower side of the connecting strip are arranged, so that the tray body can be taken down along the connecting guide rail, the tray body can be taken down and more conveniently loaded and placed, and meanwhile, the supporting sleeve can be lifted upwards through the stabilizing threaded rod after being installed, and further the supporting rod further reinforces and supports the tray body, and the stability of the tray body is further enhanced.
Drawings
FIG. 1 is a front sectional view of the present invention;
FIG. 2 is a sectional view taken along line A-A of FIG. 1 in accordance with the present invention;
FIG. 3 is a side sectional view of the FIG. 1 construction of the present invention;
fig. 4 is a sectional view of the top structure of fig. 1 according to the present invention.
In the figure: 1. a tray body; 2. a stabilization box; 3. a fixing frame; 4. connecting the guide rails; 5. a connecting strip; 6. connecting grooves; 7. a clamping plate; 8. adjusting the threaded rod; 9. an adjustment sleeve; 10. adjusting a rod; 11. stabilizing the threaded rod; 12. a support sleeve; 13. fixing the rod; 14. a support bar; 15. a support plate; 16. a slider; 17. a sliding groove; 18. a drive cartridge; 19. a worm; 20. a worm gear; 21. a motor; 22. connecting a gasket; 23. a mounting seat; 24. a coil spring; 25. a rotating shaft; 26. a belt pulley; 27. a bevel gear; 28. a belt.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-4, an embodiment of the present invention is shown:
the utility model provides a service robot is with automatic fixed tray, including tray body 1, 1 downside of tray body is equipped with and stabilizes box 2, stabilize two fixed frames 3 of 2 upper end fixedly connected with of box, the connecting guide rail 4 of fixed frame 3 upper end fixedly connected with T type, 1 lower extreme fixedly connected with of tray body and connecting guide rail 4 assorted connecting strip 5, 5 lower extremes of connecting strip are equipped with the spread groove 6 with connecting guide rail 4 assorted T type, 5 lateral walls settings of connecting strip are all run through at 6 both ends of spread groove, 5 and connecting guide rail 4's setting of connecting strip, make tray body 1 can dismantle and assemble, be convenient for carry out loading of material in tray body 1 upper end.
In the invention, the inner side wall of the fixed frame 3 is slidably connected with the clamping plate 7, specifically, the side walls of the clamping plate 7 close to the fixed frame 3 are fixedly connected with the sliding blocks 16, the inner side wall of the fixed frame 3 is provided with the sliding grooves 17 matched with the sliding blocks 16, the sliding blocks 16 are slidably connected with the sliding grooves 17, and it is noted that the upper ends of the clamping plates 7 and the inner top surface of the fixed frame 3 are fixedly connected with the connecting gaskets 22.
According to the invention, two horizontally arranged adjusting threaded rods 8 are rotatably connected to the inner side wall of the stabilizing box 2, two threads with opposite rotating directions are arranged on the adjusting threaded rods 8, adjusting sleeves 9 are sleeved on the two threads in a threaded manner, the upper ends of the adjusting sleeves 9 are rotatably connected with adjusting rods 10, and the upper ends of the adjusting rods 10 on the same adjusting threaded rod 8 are rotatably connected to the lower end of the same clamping plate 7.
According to the invention, a driving mechanism for driving the adjusting threaded rods 8 to rotate is arranged on the outer side of the stabilizing box 2, the driving mechanism comprises a driving box 18, the driving box 18 is fixedly connected to the outer side wall of the stabilizing box 2, one ends of the two adjusting threaded rods 8, which are close to the driving box 18, are rotatably penetrated through the side wall of the stabilizing box 2 and rotatably connected to the inner side wall of the driving box 18, a horizontally arranged worm 19 is arranged in the driving box 18, worm wheels 20 are fixedly sleeved on the positions, corresponding to the worm wheels 19, of the two adjusting threaded rods 8, the worm wheels 19 are mutually meshed with the worm wheels 20, a motor 21 is fixedly arranged on the outer side wall of the driving box 18, the output end of the motor 21 rotatably penetrates through the side wall of the driving box 18 and is coaxially and fixedly connected with one end of the worm 19, and the other end of the worm 19 is rotatably connected to the inner side wall of the driving box 18.
According to the invention, the clamping plate 7 and the fixed frame 3 are arranged, the adjusting threaded rod 8 is rotated through the driving mechanism, the clamping plate 7 is jacked upwards through the adjusting rod 10, the clamping plate 7 is slowly attached to the upper end of the fixed frame 3, and finally, a robot palm between the clamping plate 7 and the fixed frame 3 is stably and accurately clamped, so that the situations that the tray body 1 and articles placed on the tray body 1 slide and fall off and topple over due to unstable placement and support of the tray body 1 are reduced.
According to the invention, the upper end of the stabilizing box 2 is rotatably connected with two vertically arranged stabilizing threaded rods 11, the upper threads of the stabilizing threaded rods 11 are sleeved with supporting sleeves 12, the two supporting sleeves 12 are fixedly connected through fixing rods 13, the side walls of the supporting sleeves 12 are rotatably connected with two supporting rods 14, the upper ends of the supporting rods 14 are rotatably connected with supporting plates 15, it is noted that the side walls of the supporting sleeves 12 are fixedly connected with mounting seats 23, and the lower ends of the supporting rods 14 are rotatably connected with the mounting seats 23 through coil springs 24.
In the invention, a transmission mechanism for transmitting the rotation of the stabilizing threaded rod 11 is arranged in the stabilizing box 2, the transmission mechanism comprises two rotating shafts 25 which are horizontally arranged, belt pulleys 26 are fixedly sleeved on the two rotating shafts 25 and the two adjusting threaded rods 8, the belt pulleys 26 are mutually transmitted through a belt 28, bevel gears 27 are fixedly sleeved on the rotating shafts 25 and the lower end of the stabilizing threaded rod 11, and the two bevel gears 27 are mutually meshed.
According to the invention, the connecting guide rail 4 and the supporting rod 14 are arranged, and the connecting groove 6 at the lower side of the connecting guide rail 4 and the connecting strip 5 is arranged, so that the tray body 1 can be taken down along the connecting guide rail 4, that is, the tray body 1 can be taken down and more conveniently loaded and placed, meanwhile, the supporting sleeve 12 can be lifted upwards through the stabilizing threaded rod 11 after installation, further, the tray body 1 is reinforced and supported through the supporting rod 14, and the stability of the tray body 1 is further enhanced.
The working principle is as follows: the tray body 1 slides down along the connecting guide rail 4, the tray body 1 is separated from the connecting guide rail 4, food or drink can be placed on the tray body 1, after the placement is finished, the tray body 1 slides in along the connecting guide rail 4 and keeps the position correct, the output end of the starting motor 21 rotates in the positive direction at the moment, the output end of the motor 21 drives the worm 19 to rotate, the rotation of the worm 19 is transmitted to the adjusting threaded rod 8 through the worm wheel 20, and as the adjusting threaded rod 8 is provided with two sections of threads with opposite rotating directions, the two adjusting sleeves 9 move towards the directions close to each other and jack up the clamping plate 7 through the adjusting rod 10 and clamp the palm of the robot between the clamping plate 7 and the fixed frame 3 through the connecting gasket 22;
meanwhile, since the adjusting threaded rod 8 transmits rotation to the two rotating shafts 25 through the belt pulley 26 and the belt 28 when rotating, at this time, the rotating shafts 25 rotate and transmit the rotation to the stabilizing threaded rod 11 through the bevel gear 27, so that the stabilizing threaded rod 11 drives the supporting sleeve 12 to move upwards, and the supporting plate 15 is jacked upwards and abutted against the lower end of the tray body 1 through the supporting rod 14, and as the supporting sleeve 12 continuously rises, the greater the bending degree of the coil spring 24 is, the stronger the stable supporting force of the supporting rod 14 and the supporting plate 15 to the tray body 1 is.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (8)
1. The utility model provides a service robot is with automatic fixed tray, includes tray body (1), tray body (1) downside is equipped with and stabilizes box (2), its characterized in that: the fixing device is characterized in that two fixing frames (3) are fixedly connected to the upper end of the stabilizing box (2), a T-shaped connecting guide rail (4) is fixedly connected to the upper end of the fixing frame (3), a connecting strip (5) matched with the connecting guide rail (4) is fixedly connected to the lower end of the tray body (1), a T-shaped connecting groove (6) matched with the connecting guide rail (4) is formed in the lower end of the connecting strip (5), a clamping plate (7) is slidably connected to the inner side wall of the fixing frame (3), two adjusting threaded rods (8) horizontally arranged are rotatably connected to the inner side wall of the stabilizing box (2), two threads with opposite rotating directions are arranged on the adjusting threaded rods (8), an adjusting sleeve (9) is sleeved on each thread, an adjusting rod (10) is rotatably connected to the upper end of the adjusting sleeve (9), the upper end of the adjusting rod (10) on the same adjusting threaded rod (8) is rotatably connected to the lower end of the same clamping plate (7), stabilize the box (2) outside and be equipped with and be used for drive adjusting threaded rod (8) pivoted actuating mechanism, stabilize box (2) upper end and rotate stable threaded rod (11) that are connected with two vertical settings, stable threaded rod (11) are gone up the screw thread and have cup jointed support sleeve (12), and two support sleeve (12) are through dead lever (13) fixed connection, it is connected with two spinal branch vaulting poles (14) to rotate on support sleeve (12) lateral wall, bracing piece (14) upper end is rotated and is connected with backup pad (15), be equipped with in stabilizing box (2) and be used for the transmission to stabilize threaded rod (11) pivoted drive mechanism.
2. The automatic fixing tray for the service robot as claimed in claim 1, wherein: all fixedly connected with sliding block (16) on the lateral wall that grip block (7) are close to fixed frame (3), fixed frame (3) inside wall be equipped with sliding block (16) assorted sliding tray (17), sliding block (16) and sliding tray (17) sliding connection.
3. The automatic fixing tray for the service robot as claimed in claim 1, wherein: actuating mechanism includes drive box (18), drive box (18) fixed connection is in stabilizing box (2) lateral wall, two adjusting threaded rod (8) are close to the one end of drive box (18) and all rotate and run through stabilizing box (2) lateral wall and swivelling joint in drive box (18) inside wall, be equipped with worm (19) that the level set up in drive box (18), and two adjusting threaded rod (8) are gone up the equal fixed worm wheel (20) that has cup jointed in position that corresponds worm (19), worm (19) and worm wheel (20) intermeshing.
4. The automatic fixing tray for the service robot as claimed in claim 3, wherein: the outer side wall of the driving box (18) is fixedly provided with a motor (21), the output end of the motor (21) rotates to penetrate through the side wall of the driving box (18) and is coaxially and fixedly connected with one end of a worm (19), and the other end of the worm (19) is rotatably connected to the inner side wall of the driving box (18).
5. The automatic fixing tray for the service robot as claimed in claim 1, wherein: the upper end of the clamping plate (7) is fixedly connected with a connecting gasket (22) on the inner top surface of the fixing frame (3).
6. The automatic fixing tray for the service robot as claimed in claim 1, wherein: the side wall of the supporting sleeve (12) is fixedly connected with an installation seat (23), and the lower end of the supporting rod (14) is rotatably connected with the installation seat (23) through a coil spring (24).
7. The automatic fixing tray for the service robot as claimed in claim 1, wherein: drive mechanism includes pivot (25) of two level settings, two all fixed belt pulley (26) of having cup jointed on pivot (25) and two adjusting threaded rod (8), it is a plurality of belt pulley (26) are through belt (28) transmission each other.
8. The automatic fixing tray for the service robot as claimed in claim 7, wherein: the rotating shaft (25) is fixedly sleeved with a bevel gear (27) at the lower end of the stabilizing threaded rod (11), and the bevel gears (27) are meshed with each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011469412.1A CN112606017B (en) | 2020-12-14 | 2020-12-14 | Automatic fixing tray for service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011469412.1A CN112606017B (en) | 2020-12-14 | 2020-12-14 | Automatic fixing tray for service robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112606017A CN112606017A (en) | 2021-04-06 |
| CN112606017B true CN112606017B (en) | 2022-01-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011469412.1A Active CN112606017B (en) | 2020-12-14 | 2020-12-14 | Automatic fixing tray for service robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112606017B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116021498B (en) * | 2023-03-30 | 2023-10-13 | 西安畅榜电子科技有限公司 | Intelligent robot with motion base |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101636779B1 (en) * | 2015-05-29 | 2016-07-07 | (주)마젠타로보틱스 | A robot arm for dishwashing system |
| CN105751217A (en) * | 2016-04-15 | 2016-07-13 | 东莞理工学院 | Follow robot with Bluetooth positioning and automatic following technology |
| CN208468364U (en) * | 2018-05-10 | 2019-02-05 | 广州光泰信息科技有限公司 | A kind of trackless meal delivery robot being convenient for changing food delivery pallet |
| CN110842937A (en) * | 2019-11-14 | 2020-02-28 | 安徽新博普曼智能科技股份有限公司 | Restaurant food delivery service robot |
-
2020
- 2020-12-14 CN CN202011469412.1A patent/CN112606017B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101636779B1 (en) * | 2015-05-29 | 2016-07-07 | (주)마젠타로보틱스 | A robot arm for dishwashing system |
| CN105751217A (en) * | 2016-04-15 | 2016-07-13 | 东莞理工学院 | Follow robot with Bluetooth positioning and automatic following technology |
| CN208468364U (en) * | 2018-05-10 | 2019-02-05 | 广州光泰信息科技有限公司 | A kind of trackless meal delivery robot being convenient for changing food delivery pallet |
| CN110842937A (en) * | 2019-11-14 | 2020-02-28 | 安徽新博普曼智能科技股份有限公司 | Restaurant food delivery service robot |
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| Publication number | Publication date |
|---|---|
| CN112606017A (en) | 2021-04-06 |
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