CN114770562B - Automatic meal delivery robot - Google Patents

Abstract

The invention discloses an automatic meal delivery robot, which comprises a machine body and further comprises: the lifting device is arranged in the machine body and comprises a first containing table; the detection device is arranged at the bottom of the first containing table; the movable piece is arranged on the lifting device and comprises a first movable piece and a second movable piece, and the lifting device is also provided with a driving device for controlling the movable piece to move; the control piece is used for controlling the first containing table to be connected with one moving piece only; the sorting table comprises a first sorting table and a second sorting table, and the dishes are transferred to the sorting table. After the dish is placed in, the cold and hot of the dish are identified through the temperature sensor, the lifting device is moved downwards through the dead weight of the dish to start the driving device, the belt is rotated through the rotating motor, the dish is supported on the second holding table, the dish is classified, the track frame is arranged, multiple groups of classifying tables can be stored, the dishes at different temperatures are classified, reasonable heat preservation temperature is provided, and the diet taste of a user is guaranteed.

Description

Automatic meal delivery robot

Technical Field

The invention relates to the field of meal delivery robots, in particular to an automatic meal delivery robot.

Background

In order to improve customer's demand and less manpower resources's consumption in high-end hotel, equipped with the food delivery robot specially, the customer cooks with food information to the kitchen after ordering through independently ordering the system in the room, in order not to occupy kitchen position, and do not influence kitchen work after, the dish that the kitchen was accomplished is placed on the conveyer belt and is transported the dish to the delivery room through the conveyer belt, put into food delivery robot internal with the dish and by food delivery robot with cooked food reach appointed room gate.

In practical application, to the problem that the speed of advance of food delivery robot is slower and delivery time is longer, in order to guarantee that customer's dining experience obtains promoting, be provided with heat preservation device in food delivery robot, but conventional food delivery robot can't carry out the analysis to the dish, keep warm to some dishes that need not to heat but can lead to the edible taste of food to worsen, design one kind and can distinguish hot dish and cold dish and carry out the food delivery robot that is fit for handling to it very necessary.

Because the dishes in the dishes can be completely conducted to the dishes in a certain time, the temperature detected at the first time is inaccurate as the temperature for heat preservation.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides an automatic meal delivery robot which can effectively solve the problems of the traditional meal delivery robot.

The technical scheme adopted for solving the technical problems is as follows: an automatic meal delivery robot, includes the organism, still includes: the lifting device is arranged in the machine body and comprises a first containing table; the detection device is arranged at the bottom of the first containing table; the lifting device is also provided with a driving device for controlling the first moving piece and the second moving piece to move; the control part is used for controlling the first containing table to be connected with one moving part only; the classifying table is connected with the lifting device and comprises a first classifying table and a second classifying table, and the first classifying table and the second classifying table are respectively matched with the first moving part and the second moving part to transfer the dishes on the first containing table to the first classifying table or the second classifying table.

In the above technical scheme, further, elevating gear includes seat up and lower seat, the seat up with all set up to the cavity in the lower seat, be provided with the head rod on the seat up, just the head rod lower extreme is provided with the movable block, the movable block is arranged in the lower seat, be provided with the spring between seat up and the lower seat, be provided with the trachea on the lower seat with drive arrangement is connected.

In the above technical scheme, further, the detecting device is a temperature sensor, and is used for detecting the temperature of the dish on the first containing table, and the temperature sensor provides a judging basis for the control piece.

In the above technical scheme, further, the moving part further comprises a frame, the frame is fixed at the top of the upper seat, three directional through holes are formed in the frame and are respectively located at the front end, the upper end and the rear end, the first moving part is a first rack, the second moving part is a second rack, the first rack is arranged at the through hole of the front end, the second rack is arranged at the through hole of the rear end, the first containing table is arranged at the through hole of the upper end, the lengths of the first rack and the second rack are identical and are half of the lengths of the through holes, the first rack and the second rack are respectively located at the left side of the front end through hole and the right side of the rear end through hole, and the first rack and the second rack are respectively provided with a third rack and a fourth rack with upward tooth openings.

In the above technical scheme, further, the first supporting block that holds is provided with down the end, the supporting block initial state is located the frame middle part, and both sides are respectively the tip of first rack and second rack, be provided with first magnet in the first rack, be provided with the second magnet in the second rack, be provided with the electro-magnet in the supporting block.

In the above technical scheme, further, two power supplies are connected in parallel on the electromagnet, the power supplies are a first power supply and a second power supply respectively, the positive and negative directions of the two power supplies are opposite, the detection device is arranged at the connection point of the first power supply and the second power supply, when the detection device detects hot dishes, the first power supply is connected, the second power supply is disconnected, when the detection device detects cold dishes, the first power supply is disconnected, and the second power supply is connected.

In the above technical scheme, further, the trachea is the branch trachea, comprises main trachea and first trachea and second trachea, drive arrangement is provided with two sets of, every group drive arrangement includes piston cylinder, fifth rack lower extreme is provided with the piston and arranges in the piston cylinder, fifth rack upper end cooperation has first straight gear, first straight gear connection is on first bevel gear, first bevel gear upper end cooperation has the second bevel gear, the second bevel gear passes through the second connecting rod and is connected with the second straight gear, the second straight gear drives first rack and second rack remove.

In the above technical scheme, further, the first classification platform includes supporting seat, mobile station, the mobile station is including setting up the second that holds at the top holds the platform, the second holds the platform middle part and is provided with the recess, the embedding has the driving medium in the recess, the driving medium comprises first drive wheel, second drive wheel, belt, first classification bench first drive wheel front side sets up first transfer line, first classification bench second drive wheel front side is provided with the rotating electrical machines, just be provided with the start switch on the mobile station, first transfer line with the cooperation of second rack, the second rack with make after the start switch contacts the rotating electrical machines starts, makes the belt takes place the gyration, be provided with a plurality of bar belts on the belt, and be located the belt middle part, be provided with a plurality of rolling grooves on the supporting seat, the mobile station bottom is provided with the gyro wheel, the gyro wheel embedding is in the rolling groove, first classification bench second holds the bench and is provided with the rotating electrical machines, first classification bench first drive line has a plurality of second drive lines to hold the second rack and is provided with the second drive wheel front side, and is provided with the second drive line is located the second drive wheel, second drive line is located the second and is located the second bar type of belt, and is located the second drive line is located the second and is in contact with the belt, and is located the second bar type on the second drive line to take turns on the side.

In the above technical scheme, further, the first classifying table and the second classifying table are provided with a plurality of groups and are located on the track frame, the track frame is arranged on the movable frame, a visual sensor is arranged on the track frame and is used for detecting the position of the containing table, so that the track frame is controlled to move on the movable frame and keep the classifying table and the first containing table at the same height, the tracks on the track frame are in a shape of a 'mouth', weight sensing devices are arranged on the first classifying table and the second classifying table, when the first classifying table is weighted, the first classifying table is enabled to move downwards and the rear classifying table is enabled to move to the position of the previous classifying table, and in the same classifying table, the classifying table returns to the initial position only after all the dishes on the classifying table are taken.

In the above technical scheme, further, the left and right sides bottom of first holding platform is provided with the breach, and both sides are provided with the baffle around, the dish comprises disk body and base, there are a plurality of groups of bar grooves in the middle of the base, the dish is placed when first holding the bench, part the bar groove is arranged in breach department, the bottom surface of first holding platform with the bottom surface of second holding platform looks parallel and level.

The beneficial effects of the invention are as follows: after the dish is placed in, whether the dish is hot dish or cold dish is identified through the temperature sensor, the lifting device is moved downwards through the dead weight of the dish so as to start the driving device, then the identified dish is classified and summarized left and right, the belt is rotated through the rotating motor, the dish is supported and conveyed to the second containing table, the 'mouth' -shaped track frame is arranged, the movable track and the locking position of the classifying table are regulated, a plurality of groups of classifying tables can be stored, the dishes with different temperatures are classified, reasonable heat preservation temperature is provided, and the diet taste of a user is ensured.

Drawings

The invention will be further described with reference to the drawings and examples.

Fig. 1 is an internal structural view of the present invention.

Fig. 2 is a structural view of the upper seat inner driving device of the present invention.

Fig. 3 is a perspective view of the lifting device of the present invention.

Fig. 4 is a perspective view of another state lifting device of the present invention.

Fig. 5 is a front view of the fig. 4 state of the invention.

Fig. 6 is a schematic diagram of the connection of the electromagnet to a power source according to the present invention.

Fig. 7 is a schematic diagram of the connection of the electromagnet to the power source in another state of the invention.

Fig. 8 is a top view of the first and second racks of the present invention.

Fig. 9 is an enlarged view of fig. 7 at a in accordance with the present invention.

Fig. 10 is an enlarged view at a in fig. 7 in another state of the present invention.

Fig. 11 is a perspective view of a first sorting deck of the present invention.

Fig. 12 is a perspective view of a second sorting deck of the present invention.

Fig. 13 is a diagram showing an initial state connection between a temperature sensor and a heat preservation device for cold dishes according to the present invention.

Fig. 14 is a diagram showing the connection between the temperature sensor and the heat-insulating device when the cold dish is detected.

Fig. 15 is a diagram showing an initial state connection between a temperature sensor and a heat preservation device for hot dishes according to the present invention.

FIG. 16 is a diagram showing the connection between the temperature sensor and the heat preservation device after the detection of the hot dishes of the invention.

Fig. 17 is a schematic view of the position of the initial state ribbon of the present invention.

Fig. 18 is a schematic view of the position of the moving state strip of the present invention.

Fig. 19 is a front view of the track frame of the present invention.

Fig. 20 is a perspective view showing a bottom state of the dish according to the present invention.

In the drawings, a machine body 1, a movable frame 3, a first accommodating table 5, a movable member 7, a first classifying table 8, an upper seat 9, a spring 10, a first connecting rod 11, a movable block 12, a lower seat 13, a gas pipe 14, a second straight gear 15, a second connecting rod 16, a second conical gear 17, a first bevel gear 18, a first straight gear 19, a fifth gear 20, a piston cylinder 21, a piston 22, a second gas pipe 23, a first gas pipe 24, a main gas pipe 25, a first accommodating table 26, a notch 27, a frame 28, a first rack 29, a third rack 30, a second rack 31, a fourth rack 32, a supporting block 33, an electromagnet 34, a temperature sensor 35, a button 36, a first power supply 37, a second power supply 38, a first magnet 39, a second magnet 40, a cover plate 42, a second wire rod 48, a first flange plate 42, a second flange plate 48, a second flange plate 53, a first flange plate 48, a second flange plate 53, a second flange plate 54, a second flange plate 53, a heat insulation plate, a second flange plate 54, a heat insulation plate, a first flange plate 54, a heat insulation plate and a heat insulation plate.

Detailed Description

Referring to fig. 1 to 16, an automatic meal delivery robot includes a body 1, and further includes: the lifting device is arranged in the machine body 1 and comprises a first containing table 5; the detection device is arranged at the bottom of the first containing table 5; the moving part 6 is arranged on the lifting device and comprises a first moving part and a second moving part, and a driving device for controlling the first moving part and the second moving part to move is also arranged on the lifting device; a control member for controlling the first containing table 5 to be connected with only one of the moving members 6; the sorting table is connected with the lifting device and comprises a first sorting table 7 and a second sorting table 4 which are respectively matched with the first moving part and the second moving part, and the dish 52 on the first containing table 5 is transferred to the first sorting table 7 or the second sorting table 4.

The lifting device comprises an upper seat 8 and a lower seat 12, wherein the upper seat 8 and the lower seat 12 are both internally provided with a cavity, a first connecting rod 10 is fixedly arranged in the middle of the bottom of the upper seat 8, the first connecting rod 10 penetrates through the top of the lower seat 12 and is provided with a movable block 11 at the lower end of the first connecting rod 10, the movable block 11 is a piston, a spring 9 is arranged between the upper seat 8 and the lower seat 12, the spring 9 is supported or used for enabling the upper seat 8 to recover to an initial position after the upper seat 8 is extruded and the pressure disappears, a driving device is arranged in the cavity of the upper seat 8, an air pipe 13 is also arranged on the lower seat 12, the position of the air pipe 13 is located at the bottom position of the lower seat 12, the position of the air pipe 13 is lower than the height position of the movable block 11, and the air pipe 13 is connected to the driving device.

The detecting device is used for detecting the temperature of the dish 52, the detecting device is a temperature sensor 34, the temperature sensor 34 is directly contacted with the bottom of the dish 52, the temperature sensor 34 can provide a judging basis for control selection of the control piece, when the temperature sensor 34 detects that the temperature of the dish 52 is normal temperature or low temperature, the temperature sensor 34 sends out a signal at this time, so that the first containing table 5 is connected with the first moving part, and when the temperature sensor 34 detects that the temperature of the dish 52 is higher than normal temperature, the temperature sensor 34 sends out a signal at this time, so that the first containing table 5 is connected with the second moving part.

The top surface of the upper seat 8 is also fixedly provided with a frame 27 for placing the first moving member and the second moving member, the first moving member is a first rack 28, the second moving member is a second rack 30, three through openings are arranged on the frame 27 and are respectively positioned at the front end, the upper end and the rear end of the frame 27, and the three through openings are in a communicated state, wherein the first rack 28 is arranged at the front end through opening, the second rack 30 is arranged at the rear end through opening, the first holding table 5 is arranged at the upper end through opening, tooth grooves of the first rack 28 face the front end, tooth grooves of the second rack 30 face the rear end, the lengths of the first rack 28 and the second rack 30 are consistent and are half of the lengths of the through openings, the first rack 28 is positioned at the left side position (adhered to the left side inner wall) of the front end through opening, the second rack 30 is located at the right side of the rear end opening (is attached to the right side inner wall), a supporting block 32 embedded in the upper end opening is provided at the lower end of the first holding table 5, the supporting block 32 is located at the middle of the upper end opening in the initial state, a third rack 29 is further provided at the right side of the first rack 28, a fourth rack 31 is further provided at the left side of the second rack 30, the tooth grooves of the third rack 29 and the fourth rack 31 face upwards and pass through the left side wall and the right side wall of the frame 27 at the same time, further, in order to limit the moving track of the first rack 28 and the second rack 30, a sliding block may be further provided at the bottoms of the first rack 28 and the second rack 30, a sliding groove may be provided at the inner bottom of the frame 27, the movement tracks of the first rack 28 and the second rack 30 are made linear.

The air pipe 13 is composed of a main air pipe 24 and a branch air pipe, a branch air pipe is formed, the branch air pipe is a first air pipe 23 and a second air pipe 22 respectively, the main air pipe 24 is connected to the lower seat 12, the first air pipe 23 and the second air pipe 22 are connected to the driving device, an electric control shifting piece is arranged at the connection point of the first air pipe 23 and the second air pipe 22, the electric control shifting piece is communicated with the temperature sensor 34 through a control circuit board, when the temperature sensor 34 detects the scalding dish 52, the electric control shifting piece is in an initial state, when the temperature sensor 34 detects the dish 52 at normal temperature, the electric control shifting piece deflects, and is attached to the wall of the second air pipe 22 in the initial state, so that the main air pipe 24 is in a communicating state with the first air pipe 23, and after the electric control shifting piece deflects, the electric control shifting piece is attached to the wall of the first air pipe 23, so that the main air pipe 24 is in a communicating state with the second air pipe 22.

The driving device comprises two groups, which are respectively positioned at the front side and the rear side of the dish 52, the driving device comprises a piston cylinder 20 and a fifth rack 19, the lower end of the fifth rack 19 is embedded into the piston cylinder 20, a piston 21 is also arranged at the lower end of the fifth rack 19, tooth grooves are not arranged at the lower end of the fifth rack 19, the tooth grooves are all positioned outside the piston cylinder 20, a first air pipe 23 and a second air pipe 22 are connected into the piston cylinder 20 and positioned at the lower end position of the piston cylinder 20 (always positioned at the lower end position of the piston 21), a first straight gear 18 matched with the fifth rack 19 is arranged at the tooth groove at the upper end of the fifth rack 19, a first bevel gear 17 is arranged on the first straight gear 18, the first bevel gear 17 rotates synchronously with the first straight gear 18, meanwhile, a second bevel gear 16 matched with the first bevel gear 17 is arranged at the upper end of the first bevel gear 17, the second bevel gear 16 is arranged at one end of a second connecting rod 15, a second spur gear 14 is arranged at the other end of the second connecting rod 15, the second connecting rod 15 passes through the top surface of the upper seat 8, the second spur gear 14 is arranged outside the upper seat 8, the second spur gear 14 is meshed with the first rack 28 and the second rack 30, the rotation directions of the second spur gears 14 on the two groups of driving devices are consistent, clockwise rotation is kept, when the second spur gear 14 at the front end rotates clockwise, the second spur gear 14 drives the first rack 28 to move rightwards, when the second spur gear 14 at the rear end rotates clockwise, the second spur gear 14 drives the second rack 30 to move leftward.

The control member includes a first magnet 38, a second magnet 39, and an electromagnet 33, where the first magnet 38 is disposed in the first rack 28, the second magnet 39 is disposed in the second rack 30, the electromagnet 33 is disposed in the support block 32, specifically, the first magnet 38 is disposed in the right end of the first rack 28 and is exposed to the rear end face of the first rack 28, and the second magnet 39 is disposed in the left end of the second rack 30 and is exposed to the front end face of the second rack 30.

The first magnet 38 is on the left side and is an "N" pole, the right side is an "S" pole, the second magnet 39 is on the left side and is an "S" pole, the right side is an "N" pole, two power supplies are connected in parallel to the electromagnet 33, the two power supplies comprise a first power supply 36 and a second power supply 37, the positive and negative poles of the first power supply 36 and the second power supply 37 are opposite, the left side of the first power supply 36 is a "-", the right side is a "+", the left side of the second power supply 37 is a "+", the right side is a "-", the temperature sensor 34 is arranged at the connection point of the first power supply 36 and the second power supply 37, the first power supply 36 is in an on state initially, the second power supply 37 is in an off state, the left side of the electromagnet 33 is an "N" pole, the right side is an "S" pole, when the temperature sensor 34 detects hot dishes, the electromagnet 33 does not change, when the temperature sensor 34 detects a normal temperature dish, the first power supply 36 is turned off, the second power supply 37 is turned on, and correspondingly, the left side of the electromagnet 33 is an "S" pole, the right side of the electromagnet is an "N" pole, that is, hot dishes are detected by default in an initial state, the supporting block 32 is connected with the first rack 28, and when cold dishes are detected, the supporting block 32 is connected with the second rack 30, wherein, in order to facilitate adsorption and repulsion of the electromagnet 33, the distance between the first rack 28 and the second rack 30 is greater than the width of the supporting block 32, the moving track of the supporting block 32 is in a longitudinal step shape, a chute matched with the moving track of the supporting block 32 is arranged on the bottom surface of the frame 27, and a sliding block is arranged at the bottom of the supporting block 32 and embedded into the chute.

The first sorting table 7 comprises a supporting seat 47 and a moving table, a second holding table 42 is arranged at the top of the moving table, the top surface and the left and right side surfaces of the first holding table 5 are in an open state, a groove is arranged at the middle position of the second holding table 42, the top surface and the left and right side surfaces are also in an open state, a transmission member is arranged in the groove, the transmission member transfers the dish 52 on the first holding table 5 at the tail end of the frame 27 to the second holding table 42 when in operation, the transmission member comprises a first transmission wheel 49, a second transmission wheel 50 and a belt 43, the first transmission wheel 49 and the second transmission wheel 50 are rotatably arranged at two sides of the groove of the moving table, a first transmission rod 44 is protruded at the front side end of the first transmission wheel 49 on the first sorting table 7, the tail end of the transmission rod is provided with gears matched with the third rack 29 and the fourth rack 31, meanwhile, the second transmission wheel 50 at the front side is provided with a rotating motor 46, a starting switch 45 is arranged on the rotating motor 46 and faces to the direction of the first transmission rod 44, when the third rack 29 approaches to the first sorting table 7, the third rack 29 is contacted and matched with the first transmission rod 44 on the first sorting table 7, so that the belt 43 rotates anticlockwise, when the third rack 29 moves continuously and contacts with the starting switch 45 on the rotating motor 46, the dish 52 on the first holding table 5 is positioned at the left tail end of the frame 27 at the moment, the rotating motor 46 works, the belt 43 rotates clockwise, the dish 52 placed on the first placing table 5 is transferred to the second placing table 42, the starting time of the rotating motor 46 is limited, that is, when the dish 52 is placed at the middle position of the second placing table 42, the rotating motor 46 stops, meanwhile, a cover plate 41 is arranged on the second placing table 42 on the first sorting table 7, a heat preservation module 40 is arranged on the cover plate 41, after the dish 52 is placed at the middle position of the second placing table 42, the heat preservation module 40 starts to preserve heat of the dish, and the second sorting table 4 is different from the first sorting table 7 in that the following steps are included, a second transmission rod 48 is arranged at the rear side of the second transmission wheel 50, and meanwhile, the rotating motor 46 on the second sorting table 4 is positioned at the rear side of the first transmission wheel 49.

When the dish 52 is placed on the first meal table 5, the temperature detected by the temperature sensor 34 at the first time cannot be used as the application temperature of the heat preservation device 40 because a certain time is required for the dish in the dish 52 to completely transfer the temperature to the dish 52.

In order to ensure that the temperature applied by the heat preservation device 40 on the cover plate 41 is the most suitable temperature, a regulating and controlling component for ensuring that the heat preservation module 40 applies reasonable temperature is arranged between the temperature sensor 34 and the heat preservation module 40, the regulating and controlling component comprises a heat conduction silica gel strip 53, a sealing tube 54, a balloon 55, a slide rheostat 56, a refrigerating sheet 57 and a heat preservation module power supply 58, one end of the heat conduction silica gel strip 53 covers the temperature sensor 34, the balloon 55 is sleeved on the sealing tube 54 and is wrapped by the heat conduction silica gel strip 53, the balloon 55 is fixed on a sliding block of the slide rheostat 56, the sliding block is controlled to move in the slide rheostat 56 by thermal expansion and contraction of the balloon 55, and the heat preservation module power supply 58 is connected with the slide rheostat 56 and the refrigerating sheet 57 in series.

The heat preservation module power supply 58 and the refrigerating sheet 57 are arranged in the heat preservation module 40 which detects that the dish 52 is at normal temperature or cold, the heat preservation module power supply 58 and the refrigerating sheet 57 are connected in a forward direction, the refrigerating sheet 57 can refrigerate in a forward current direction, the heat preservation module power supply 58 and the refrigerating sheet 57 in the heat preservation module 40 which detects that the dish 52 is hot are connected in a reverse direction, and the refrigerating sheet 57 can heat.

When the dish 52 is hot, and the temperature detected by the temperature sensor 34 is higher and higher during the movement, the balloon 55 is enlarged, the slider on the slide rheostat 56 is moved upward, thereby reducing the resistance and increasing the current, the refrigerating power of the refrigerating sheet 57 is improved, when the dish 52 is normal temperature, the balloon 55 is unchanged, at this time, the refrigerating sheet 57 does not generate excessive refrigerating effect, namely, is normal temperature, when the dish 52 is cold, the balloon 55 is contracted, the slider on the slide rheostat 56 is moved downward, the line connection mode connected to the slide rheostat 56 is changed, at this time, the resistance is reduced, the current is increased, and the refrigerating power of the refrigerating sheet 58 is improved.

A central processing unit is disposed in the heat preservation device 40, and the temperature detected during the movement of the dish 52 is selected by the central processing unit, when the dish 52 is hot dish, the maximum heating power generated by the slider at the highest position on the slide rheostat 56 is selected as the heat preservation temperature, and when the dish 52 is cold dish, the maximum cooling power generated by the slider at the lowest position on the slide rheostat 56 is selected as the heat preservation temperature.

In order to enable the belt 43 to rotate so as to drive the dish 52 to move, the dish 52 is composed of a dish body and a base, a plurality of equidistant strip-shaped grooves 53 are formed in the middle of the base, notches 26 are formed in the left side and the right side of the first containing table 5, baffles are arranged on the front side and the rear side of the first containing table 7, when the dish 52 is placed on the first containing table 5, part of the strip-shaped grooves 53 are arranged at the notches 26, a plurality of strip-shaped belts 51 are arranged on the belt 43, in an initial state, the strip-shaped belts 51 on the first containing table 7 and the second containing table 4 are positioned in the middle of the belt 43, after the third rack 29 is matched with the first transmission rod 44, or after the fourth rack 31 is matched with the second transmission rod 48, the strip-shaped belts 51 on the first containing table 7 are positioned on one side of the first 49, the strip-shaped belts 51 are lower than the plane of the belt 43, when the strip-shaped belts 51 on the second containing table 4 are positioned on the second containing table 5, the strip-shaped belts 51 are positioned on the second containing table 50, and the strip-shaped belts 51 are also positioned on the second containing table 46, and the strip-shaped belts 51 are rotated from the first containing table 46 to the second containing table 52, and then the strip-shaped belts are rotated.

In the initial state, the third rack 29 or the fourth rack 31 is not matched with the first transmission rod 44 or the second transmission rod 48, when the first rack 28 or the second rack 30 moves to a certain position, the third rack 29 or the fourth rack 31 is contacted with the first transmission rod 44 or the second transmission rod 48 and enables the belt 43 to rotate through the transmission member, the strip 51 on the belt 43 is arranged below the notch 26, finally the belt 43 is rotated by touching the start switch 45, the dish 52 is conveyed to the middle part of the second containing table 42 through the matching of the strip 51 and the strip groove 53, and the distance from the tail end of the third rack 29 or the fourth rack 31 to the first transmission rod 44 or the second transmission rod 48 plus the distance from the tail end of the first rack 29 or the second transmission rod 48 to the start switch 45 is equal to the distance from the first containing table 5 to the second containing table 42.

In order to make the sorting table and the first holding table 5 at the same height at the moment, the first sorting table 7 and the second sorting table 4 are firstly arranged on the track frame 3, the track frame 3 is arranged on the movable frame 2, the movable frame 2 is fixed on the machine body 1, the track frame 3 can move up and down on the movable frame 2, a vision sensor is arranged on the track frame 3 and used for detecting the position of the first holding table 5 at the moment, a driving module and a signal module are arranged in the movable frame 2, when the height of the first holding table 5 is reduced, the vision sensor detects and transmits the signals into the signal module, the driving module is notified to work through the signal module, so that the first holding table 5 is kept at the same height all the time, and when the first holding table 5 is lifted, the track frame 3 is also at the same height, so that the third rack 29 and the fourth rack 31 can be matched with the first rack 31 and the second rack 44 all the second transmission rod 48 all the time.

Meanwhile, in order to meet the requirement that a plurality of dishes 52 can be stored, the first sorting table 7 and the second sorting table 4 are arranged on the track frame 3, the track on the track frame 3 is in a shape of a port, a plurality of nodes are arranged on the track, the first node is positioned at the lower left corner of the track, the second node is positioned at the middle left corner of the track, the third node is positioned at the upper left corner of the track, the fourth node is positioned at the upper right corner of the track, the fifth node is positioned at the middle right corner, the first sorting table is arranged at the third node, the second sorting table is arranged at the fourth node, the third sorting table is arranged at the fifth node, the first sorting table 7 and the second sorting table 4 are all provided with weight sensing devices, when the first sorting table is subjected to weight, the first sorting table moves down and the second sorting table moves to the position of the first sorting table, the third sorting table moves to the position of the second initial stage, the first sorting table moves to the position of the third sorting table, the first sorting table returns to the first sorting table, and the first sorting table returns to the first sorting table after all sorting tables are in the initial sorting table.

When the dish 52 is separated from the first holding table 5, the first holding table 5 is lifted up again by the spring 9 and returns to the initial position.

In order to keep the electric pulling piece and the electromagnet 33 to be restored to the initial state after the holding table works once, a button 35 is arranged on the top of the machine body 1, the button 35 is touched after the first holding table 5 returns to the initial position, the button 35 is also connected to the control panel of the temperature sensor 34, when the button 35 is pressed, the first power supply 36 is turned on again, the second power supply 37 is turned off, and the electromagnet 33 and the electric pulling piece return to the initial state.

The purpose of the support seat 47 is that when the robot arrives at the designated room entrance, the mobile station automatically moves from one end to the other end of the support seat 47, and at this time, the robot protrudes the designated dish 52 out of the bellyband, waiting for the user to take, and then re-receives the bellyband, two sliding grooves are provided on the upper surface of the support seat 47, and a pulley is provided at the bottom of the mobile station, and the pulley is embedded into the sliding grooves.

The robot is internally provided with a control assembly and a control circuit board for realizing basic instruction operation, and is also provided with a power supply for supplying energy.

The working process of the invention comprises the following steps: after the temperature sensor 34 detects the temperature of the dish 52, it is preferably determined how the electric plectrum and the electromagnet 33 are started, if the dish 52 is hot, the electric plectrum is not moving, the main air pipe 24 is communicated with the first air pipe 23, the supporting block 32 is connected with the first rack 28, the first containing table 5 is lowered by weight, at this time, the vision sensor detects that the first containing table 5 moves to drive the track frame 3 to synchronously move down on the movable frame 2, so that the air in the lower seat 12 is pressed into the piston cylinder 20 through the air pipe, the piston 21 moves the fifth rack 19 upward, so that the first straight gear 18 drives the first bevel gear 17 to rotate, the first bevel gear 17 drives the second bevel gear 16 to rotate, the second bevel gear 16 drives the second spur gear 14 to rotate clockwise through the second connecting rod 15, the second spur gear 14 drives the first rack 28 to move rightwards, so that the third rack 29 and the first transmission rod 44 on the first sorting table 7 cooperate to enable the strip belt 51 on the belt 43 to be arranged on one side of the first transmission wheel 49, the first holding table 5 is attached to the second holding table 42, at the moment, the third rack 29 touches the starting switch 45 to enable the rotating motor 46 to start, the rotating motor 46 enables the belt 43 to rotate one end for a distance and stop, the strip belt 51 is embedded into the strip groove 53 of the dish 52 to enable the dish 52 to move to the middle part of the second holding table 42, during the movement of the dish 52, the temperature sensor 34 detects the dish 52 in real time, so that the balloon 55 is heated and expanded to change the current flowing into the cooling plate 57, the heating effect is increased, and the heat preservation module 40 selects the temperature generated by the highest heating power and preserves the heat of the dish 52.

When the dish 52 is a normal temperature dish or a cold dish which is not heated, the electric pulling piece deflects, the main air pipe 24 is communicated with the second air pipe 22, the magnetic poles of the electromagnet 33 are reversed, the supporting block 32 is connected with the second rack 30, the second rack 30 is driven by the second spur gear 14 to move leftwards by pressing the air in the lower seat 12 into the piston cylinder 20, the fourth rack 31 is matched with the second transmission rod 48 on the second sorting table 4, the strip-shaped belt 51 on the belt 43 is placed on one side of the second transmission wheel 50, then the same air bag moves the dish 52 to the middle part of the second holding table 42, the maximum refrigeration power of the refrigeration piece 57 is changed by changing the balloon 55 through changing the slide rheostat 56, the maximum refrigeration power is selected as the temperature through the heat preservation module 40, and when the dish 52 is insulated at normal temperature, the heat preservation piece 57 is not moved by the slide rheostat module 56.

When the robot reaches a designated room, the "belly" of the robot is opened, the mobile station moves outwardly from the inner end of the support 47, the designated dish 52 is removed, and the user takes it.

After the dish 52 on the first holding table 5 is transferred to the second holding table 42, the first holding table 5 is lifted again by the cooperation of the third rack 29 or the fourth rack 31 and the first transmission rod 44 or the second transmission rod 48, and the electric pulling piece and the electromagnet 33 are restored after the first holding table 5 is contacted with the button 35.

The foregoing is merely one embodiment of the present invention and is not intended to limit the invention in any way, and simple modifications, equivalent variations or modifications can be made without departing from the technical solution of the present invention, all falling within the scope of the invention.

Claims (9)

1. An automatic meal delivery robot, includes the organism, its characterized in that still includes:

the lifting device is arranged in the machine body and comprises a first containing table;

the detection device is arranged at the bottom of the first containing table;

the lifting device is also provided with a driving device for controlling the first moving piece and the second moving piece to move;

the control piece is used for controlling the first containing table to be connected with the first moving piece or the second moving piece;

the sorting table synchronously moves with the lifting device and comprises a first sorting table and a second sorting table which are respectively matched with the first moving part and the second moving part, so that dishes on the first containing table are transferred to the first sorting table or the second sorting table;

the detection device is a temperature sensor and is used for detecting the temperature of the dish on the first containing table, and the temperature sensor provides a judgment basis for the control piece.

2. The automatic meal delivery robot according to claim 1, wherein the lifting device comprises an upper seat and a lower seat, the upper seat and the lower seat are both internally provided with cavities, a first connecting rod is arranged on the upper seat, the lower end of the first connecting rod is provided with a movable block, the movable block is arranged in the lower seat, a spring is arranged between the upper seat and the lower seat, and an air pipe is arranged on the lower seat and connected with the driving device.

3. The automatic meal delivery robot according to claim 2, wherein the moving member further comprises a frame, the frame is fixed at the top of the upper seat, three through holes are formed in the frame and located at the front end, the upper end and the rear end respectively, the first moving member is a first rack, the second moving member is a second rack, the first rack is arranged at the through hole of the front end, the second rack is arranged at the through hole of the rear end, the first holding table is arranged at the through hole of the upper end, the first rack and the second rack are identical in length and are half of the length of the through hole, the first rack and the second rack are located on the left side of the through hole of the front end and the right side of the through hole of the rear end respectively, and a third rack and a fourth rack with upward tooth mouths are further arranged on the first rack and the second rack respectively.

4. The automatic meal delivery robot according to claim 3, wherein a supporting block is arranged at the lower end of the first holding table, the initial state of the supporting block is located in the middle of the frame, the two sides of the supporting block are respectively the end parts of the first rack and the second rack, a first magnet is arranged in the first rack, a second magnet is arranged in the second rack, and an electromagnet is arranged in the supporting block.

5. The automatic meal delivery robot according to claim 4, wherein two power supplies are connected in parallel on the electromagnet, the two power supplies are respectively a first power supply and a second power supply, the positive and negative directions of the two power supplies are opposite, the detection device is arranged at the connection point of the first power supply and the second power supply, when the detection device detects hot dishes, the first power supply is connected, the second power supply is disconnected, and when the detection device detects cold dishes, the first power supply is disconnected, and the second power supply is connected.

6. The automatic meal delivery robot according to claim 5, wherein the air pipe is a branch air pipe and consists of a main air pipe, a first air pipe and a second air pipe, the driving device is provided with two groups, each group of driving device comprises a piston cylinder and a fifth rack, a piston is arranged at the lower end of the fifth rack and is arranged in the piston cylinder, a first straight gear is matched with the upper end of the fifth rack, the first straight gear is connected to a first bevel gear, a second bevel gear is matched with the upper end of the first bevel gear, the second bevel gear is connected with the second straight gear through a second connecting rod, and the second straight gear drives the first rack and the second rack to move.

7. The automatic meal delivery robot according to claim 5, wherein the first sorting table comprises a supporting seat and a moving table, the moving table comprises a second containing table arranged at the top, a groove is formed in the middle of the second containing table, a transmission part is embedded in the groove and consists of a first transmission wheel, a second transmission wheel and a belt, a first transmission rod is arranged on the front side of the first transmission wheel on the first sorting table, a rotating motor is arranged on the front side of the second transmission wheel on the first sorting table, a starting switch is arranged on the moving table, the first transmission rod is matched with a second rack, the second rack is contacted with the starting switch to enable the rotating motor to start rotating, a plurality of strip belts are arranged on the belt and are positioned in the middle of the belt, a plurality of rolling grooves are formed in the supporting seat, rollers are arranged at the bottom of the moving table, the rollers are embedded in the rolling grooves, a second transmission wheel on the first sorting table is provided with a starting switch, a second strip-shaped motor is arranged on the second sorting table is contacted with the second strip-shaped motor, and the second strip-shaped motor is arranged on the second strip-shaped transmission table, and the second strip-shaped transmission table is contacted with the second strip-shaped transmission rod, and the strip-shaped transmission belt is arranged on the second sorting table, and the strip is contacted with the second strip-shaped transmission table, and the strip is made to be started.

8. An automatic meal delivery robot according to claim 7, wherein the first sorting deck and the second sorting deck are provided with a plurality of groups and are located on a rail frame, the rail frame is arranged on a movable frame, a visual sensor is arranged on the rail frame and is used for detecting the position of the placing deck so as to control the rail frame to move on the movable frame and keep the sorting deck and the first placing deck at the same height, the rails on the rail frame are in a shape of a 'mouth', weight sensing devices are arranged on the first sorting deck and the second sorting deck, when the first sorting deck is stressed, the first sorting deck is moved downwards and the rear sorting deck is moved to the position of the former sorting deck, and in the same sorting deck, the sorting deck is returned to the initial position only after all dishes on the sorting deck are taken.

9. The automatic meal delivery robot of claim 8, wherein notches are formed in the bottoms of the left side and the right side of the first containing table, baffles are arranged on the front side and the rear side of the first containing table, the dish is composed of a dish body and a base, a plurality of groups of strip-shaped grooves are formed in the middle of the base, when the dish is placed on the first containing table, part of the strip-shaped grooves are placed at the notches, and the bottom surface of the first containing table is flush with the bottom surface of the second containing table.