CN207415369U - A kind of truss-like autonomous meal delivery robot - Google Patents

Abstract

The utility model discloses a kind of truss-like autonomous meal delivery robots, include the truss manipulator for transporting food and drink successively from top to bottom（1）, equipped with lift tray rack（4）And main control box（3）Vehicle body frame（2）With omnidirectional's walking chassis for walking（5）；The truss manipulator（1）Including truss, the truss includes the two truss support shells being oppositely arranged（116）, the two truss support shells（116）Between be movably set with to hold up the lift tray rack（4）On service plate elevating mechanism, the two truss support shells（116）It is inside movably set with to make telescopic rail of the elevated levels to food delivery.The utility model is carriage type, and center of gravity is low, and stability is good, and can avoid secondary pollution of the food during transport, and food delivery radius is big, whole without manually carrying, and saves manpower.

Description

A kind of truss-like autonomous meal delivery robot

Technical field

The utility model is related to a kind of truss-like autonomous meal delivery robots, belong to intellect service robot technology neck Domain.

Background technology

With the continuous development of science and technology, process of modernization is accelerated, more and more people sprout to break away from it is simple, again Multiple, the work of low technical content idea, at the same time, robot gradually enters among people's life to help through corresponding work Make.Instantly catering industry is typical labour intensive profession, and work is heavy, and intensity is big, and repeatability is high, inefficient.For It solves the above problems, many food and beverage enterprise's selections substitute the manual service in dining room with intelligent robot.Currently on the market Meal delivery robot be generally humanoid design, by the way of pathfinding line or the navigation mode of visual sensor.Humanoid Device artificially ensures its apparent aesthetic feeling, and save space often directly may cause food in transport process by food with extraneous contact In secondary pollution, while meal delivery robot crank due to during food delivery because hand-held pallet, therefore to keep center of gravity The load of robot itself must be aggravated, traditional meal delivery robot stills need food and drink of artificial carry out in food delivery and removes Fortune, still has inconvenience for having dinner for some disabled persons.

Utility model content

Technical problem to be solved in the utility model is to provide a kind of carriage type, avoids food during transport Secondary pollution, food delivery radius is big, the whole truss type movable meal delivery robot without manually carrying；Further, this practicality is new Type provides a kind of truss type movable meal delivery robot for having the function of to order dishes with voice reporting dish；Further, the utility model Rocking when a kind of reduction tray rack lifting is provided, while the truss type movable for reducing friction of the tray rack in uphill process is sent Meal robot.

In order to solve the above technical problems, the technical solution adopted in the utility model is：

A kind of truss-like autonomous meal delivery robot includes the truss machinery for transporting food and drink successively from top to bottom Hand, the vehicle body frame equipped with lift tray rack and main control box and omnidirectional's walking chassis for walking；The truss machinery Hand includes truss, and the truss includes the two truss support shells being oppositely arranged, between the two truss support shells activity set Be equipped with to hold up the elevating mechanism of the service plate on the lift tray rack, in the two truss support shells activity set It is useful for making telescopic rail of the elevated levels to food delivery；The truss manipulator, elevating mechanism, lift tray rack It is electrically connected with omnidirectional walking chassis with the main control box.

The truss manipulator includes the truss support shell of two gate, the two truss support upper surface of outer cover it Between be fixed with front support seat and rear support seat, motor fixing plate is connected on the rear support seat, the first motor is fixed on the electricity In machine fixed plate and between the front support seat and rear support seat, the purlin between the front support seat and rear support seat Frame support housing upper surface is provided with two opposite bearing bracket stands, and the first drive shaft passes through two bearing bracket stands, first driving The bevel gear being connected with first motor is provided in the middle part of axis, the both ends of first drive shaft are connected with cylindrical straight gear respectively Wheel, the spur gear wheel be located at the outside of the bearing bracket stand and bottom through after the through hole of the truss support shell upper and First rack engages, and two first racks are separately fixed at the upper end of a pair of of telescopic rail telescopic rail to be helped to stretch, described Guide rail telescopic movable is arranged in the truss support shell, and the telescopic rail is X arms, and two symmetrical X arms backs are equipped with Guided wheel slot, the guided wheel slot is engaged with the guide wheel mounted on the truss support enclosure, under the truss support shell Portion is equipped with counterweight；Bottom plate is provided between the two X arms rear portions, the second motor, second electricity are provided on the bottom plate Machine is connected with gear set, and the gear set is located in the second drive shaft, and the both ends of second drive shaft are connected with the first chain respectively Wheel, the foreparts of the X arms are provided with the second sprocket wheel, and the axis of first sprocket wheel and the second sprocket wheel is both secured on the inside of the X arms Face is connected with chain between first sprocket wheel and the second sprocket wheel on the same X arms, is also set up on the medial surface of the X arms There is walking race.

The counterweight includes several cylindrical carrying rollers.

The elevating mechanism is scissors-type lifting, and the scissors-type lifting is included by groove type component and corner-shape component group The square basic support frame of synthesis, the basic support frame are internally provided with electric pushrod, the basic support frame Two opposing bottom edges be connected respectively with the top of expansion bracket, the bottom of the expansion bracket is connected on pedestal, the two expansion bracket bottoms Be connected between end by connecting rod, the middle part of the connecting rod is connected with the bottom of the electric pushrod, the top of the electric pushrod with Basic support frame is connected, and both ends are connected in the walking race after wheel shaft is horizontally through the side wall of the basic support frame The traveling wheel of walking is also connected with the connecting plate for being connected with the chain on the basic support frame, the expansion bracket Lower section is provided with two motors, the length that two motors are symmetrically and centre distance is one section of service plate, the motor point Be not connected with leading screw by first shaft coupling, the leading screw respectively be fixed on slide for holding up the fork of the service plate Bar is connected, and the slide and motor are all fixed on angle steel, and the angle steel is located at the side of the pedestal.

The lift tray rack includes bearing part and drive part, and the bearing part includes bottom base, described The corner of bottom base is both provided with stent, and the cantilever tip is connected with tray rack head cover, and the stent bottom is connected with base's lid Plate if the mid-stent is provided with dried layer for carrying the loaded pallet of service plate, is provided with two mutually in the bottom base The 3rd parallel motor, the 3rd motor are connected respectively with the gear outside the bottom base, the gear difference It is engaged with the second rack；There are two rear portion guide wheel, the vehicle body frames for the setting of the opposite end of the bottom base and the gear Inside be provided with vertically to tray rack riser guide, the rear portion guide wheel respectively be located at the tray rack riser guide in；It is described Second rack is also vertically to being arranged in the vehicle body frame.

The vehicle body frame is built by aluminium, and each of the vehicle body frame is fixedly connected with connector using trip bolt Connecting node.

The front support seat and rear support seat are arranged in shell, and interactive panel and several sound equipments are housed on the shell, The bottom surface corner of the truss support shell is connected by support base with the vehicle body frame upper surface, the interaction panel and sound equipment It is connected with the main control box.

The support base lower end is fixed on by least three bolts arranged side by side on the vehicle body frame.

The shell is arc.

The utility model provides a kind of intelligent independent movement meal delivery robot of carriage type multiple layer tray truss-like, mainly by Three parts form, and first portion is the truss manipulator of the transport food and drink of the top, and second portion is equipped with lift tray rack With the vehicle body frame of main control box, Part III is omnidirectional's walking chassis.The truss-like manipulator of first portion, building block Including：The telescopic rail of truss structure, the meal delivery robot interaction panel with sound equipment and touch screen utilize electric pushrod The scissors-type lifting of telescopic extensions is controlled, the skeleton designed using truss structure as meal delivery robot is primarily to facilitate skill The dismounting and repair of art personnel.The machine driving and the course of work of truss-like manipulator is explained in detail below, truss-like manipulator is main Be the truss support shell by external two sections of symmetrical gate as primary structure, truss support shell lower edge and side are all provided with Aperture is used for fixed cylinder shape carrying roller, is provided with one piece of rectangular recess along front end on truss support shell（That is truss support shell The through hole being used for through spur gear wheel bottom on top）, for facilitating spur gear wheel and first on telescopic rail or X arms Rack is engaged by groove, and two truss support enclosures are respectively fixed with the telescopic rail of a L-type, telescopic rail compared with The upper end of long side is fixed with first rack isometric with telescopic rail, while separately there are two circular groove use on longer sides There is the first drive shaft in regulation on fixing axle bolster, bearing bracket stand, one section is provided on the edge close to shorter one side for traveling wheel Mobile walking race is provided with aperture in the rear end of shorter edge for installing rivet bottom plate, and bottom plate is U-steel, and bottom plate will Two sections of symmetrical telescopic rails connect, equipped with motor on the bottom plate of connection, effect be for drive be installed on it is flexible Sprocket wheel on guide rail, chain drive stretch primarily to the scissors-type lifting that is placed between telescopic rail is driven to be moved Guide rail it is flexible, depend primarily upon and be fixed on the longitudinally fixed motor driven gear rack of external truss support case nose Engaged transmission, under the action of gear forces, telescopic rail stretches out, and increases the food delivery radius of food delivery trolley, also increases scissors The mobile range of elevating mechanism.Scissors-type lifting, as skeleton, is covered, electric pushrod is fixed on aluminium by aluminium by plastic shell The lifting of scissors-type lifting is controlled on the skeleton of material, to maintain stabilization of the scissors-type lifting during elevating movement Two symmetrical expansion brackets are fixed on the rear and front end of scissors-type lifting skeleton, two sections of fork arms of scissors-type lifting by property It is fixed on the slide of expansion bracket lower end, slide is carried out front and rear telescopic moving, scissors by motor-driven two sections of screw structures The effect of elevating mechanism is after the service plate equipped with food and drink that will be placed on lift tray rack is held up, then is placed on, more Big saves manpower, makes food delivery whole without manually carrying, and the touch panel positioned at meal delivery robot front end, which has, orders dishes With the function of voice reporting dish, name of the dish can be quoted to a person sponging on an aristocrat in food delivery and show the picture of corresponding vegetable on a display screen.

The vehicle body frame of second portion, vehicle body frame are built by aluminium alloy extrusions, internal to include a lift Tray rack and a main control box, lift pallet are placed on the forepart of trolley, are divided into three layers, it are controlled to lift dynamic Power source is located at the bottom of lift tray rack, passes through two with being installed vertically on vehicle body frame with cogged motor by a pair Achieve the purpose that lifting later to rack engagement, for storing battery, control system component is used to balance main control box with some The weight of meal delivery robot.

Part III is omnidirectional's walking chassis, it is driven the movement of two pairs of universal wheels progress omnidirectionals by four individual motors, Four rectangular distributions of motor, are fixed on four square frames of lower alumi-nium profile structure.

The beneficial effects of the utility model are：

A kind of truss-like autonomous meal delivery robot provided by the utility model, truss manipulator is by scissors-type lifting It is formed with telescopic rail two parts, both ends telescopic rail is mutually parallel, and scissors-type lifting is placed between parallel telescopic rail Movement is oriented, truss manipulator carries out self-locking by bolt with vehicle body frame and is connected, and vehicle body frame not only acts as sub-truss Manipulator acts on and has carried out necessary protection to main control box and lift tray rack, and omnidirectional's walking chassis is fixed on car body The bottom of frame is composed of the omni-directional wheel of two pairs of rectangular distributions.It is designed using this kind, reduces the movement of meal delivery robot Center of gravity, while increase stationarity of the meal delivery robot during food delivery, body construction avoids food and drink from transporting using Seal Design It is polluted during sending, omnidirectional's walking chassis avoids meal delivery robot some limitations on the move, truss manipulator Increase the food delivery radiation scope of meal delivery robot.

Description of the drawings

Fig. 1 is the dimensional structure diagram of the utility model（Remove two side bodies）；

Fig. 2 is the dimensional structure diagram of the truss manipulator of the utility model；

Fig. 3 is the front view of the telescopic rail of the utility model；

Fig. 4 is the scissors-type lifting dimensional structure diagram of the utility model；

Fig. 5 is the dimensional structure diagram of the vehicle body frame of the utility model；

Fig. 6 is the dimensional structure diagram of the lift tray rack of the utility model.

Specific embodiment

The utility model is further described below in conjunction with the accompanying drawings.

As shown in Figure 1, a kind of truss-like autonomous meal delivery robot, is mainly made of following components：It is fixed on The truss manipulator 1 of vehicle body upper portion, scissors-type lifting 9 are installed between truss, and the front end of truss manipulator 1 is equipped with one The shell 8 of block arc, the shell 8 of arc are made of plastics, and front support seat 109 and rear support seat 108 are arranged at the shell 8 of arc It is interior, connected on the shell 8 of arc equipped with interactive panel 7 and a pair of of sound equipment 6, truss manipulator 1 by four support bases 10 using bolt It connects, 10 lower end of support base is fixed on using three bolts 11 arranged side by side on the vehicle body frame 2 that aluminium builds, inside vehicle body frame 2 Lift tray rack 4 and main control box 3, the lower part installation omnidirectional walking chassis 5 of vehicle body frame 2, omnidirectional's walking chassis 5 are installed It is responsible for that entire meal delivery robot is driven to be moved.Truss manipulator 1, scissors-type lifting 9, lift tray rack 4 and omnidirectional Walking chassis 5 is electrically connected with main control box 3.

As shown in Fig. 2, truss manipulator 1 is the important component of meal delivery robot, two groups of motor drive controls are relied on One group of two level moving telescopic guide rail is made, the first motor 101 is fixed on motor fixing plate 102, after motor fixing plate 102 is fixed on On support base 108, the left and right sides of rear support seat 108 is respectively fixed with a pair of bearings frame 107, rear support seat 108 and front support Seat 109 is all fixed on truss support shell 116, and 101 lower part of the first motor is equipped with bevel-gear sett 103,103 band of bevel gear The spur gear wheel 105 and spur gear wheel 106 on dynamic first drive shaft, 104 both sides rotate, spur gear wheel 105 and cylindrical straight gear Wheel 106 engages respectively with the first rack 110 with the first rack 111, and two first racks are separately fixed at the upper of a pair of of X arms 113 It holds to help X arms 113 flexible, since event a pair of the X arms 113 identical with 106 rotating speed of spur gear wheel of spur gear wheel 105 are with identical Speed stretch, two symmetrical 113 backs of X arms are equipped with one section of guided wheel slot 112, guided wheel slot 112 with outside truss support Guide wheel 114 on shell 116 is engaged the flexible guide function for completing a pair of X arms 113,116 lower part pair of installation truss support shell The cylindrical carrying roller 115 of title is used to support a pair of of X arms 113 of truss.

As shown in figure 3, the front view of the telescopic rail for truss manipulator, the second motor 117 is installed on connected two sections of X arms On 113 bottom plate 122, bottom plate 122 is U-steel, and the second motor 117 is installed on by the drive of gear set 118 on a pair of of X arms 113 The first sprocket wheel 119 and the first sprocket wheel 120, while a pair of symmetrical walking race 121 is also provided on X arms 113 and supplies scissor lift Mechanism 9 is oriented movement.

As shown in figure 4, scissors-type lifting 9 mainly consists of the following parts, electric pushrod 901 is controlled as active source Z-direction is stretched, and wheel shaft 902 connects and composes the mobile module of trolley with traveling wheel 905, while passes through a pair of of groove type component 904 and corner-shape component 903 be combined into the basic support frame of scissors-type lifting 9 using rivet interlacement, connecting plate 906 is for connecting The chain on the first sprocket wheel and the second sprocket wheel is connect so that scissors-type lifting 9 to be driven to advance, expansion bracket 907 and 919 conduct of expansion bracket Cheng Qi mechanisms are symmetrically mounted on the front and rear of basic support frame, expansion bracket 907 and 919 lower end of expansion bracket be equipped with motor 908 with Motor 909, two motors are symmetrically and centre distance is the length of one section of service plate, and motor 908 and leading screw 912 pass through the first shaft coupling Device 910 is attached, and leading screw 912 and the fork arm 915 being fixed on slide 917 are connected, and fork arm is controlled by the rotation of motor 908 915 it is flexible, slide 917 and motor 908 are all fixed on angle steel 920, and similarly leading screw 913 passes through the first shaft coupling with motor 909 Device 911 is attached, and fork arm 914 is fixed on slide 918 while is connected with leading screw 913, and fork arm 914 is controlled by motor 909 It is flexible.

As shown in figure 5, the vehicle body frame 2 that aluminium is built mainly is fixedly connected with vehicle using trip bolt 201 with connector 202 Each connecting node of body frame 2, the elevating movement of internal lift tray rack 4 are distinguished by gear 401 and gear 403 Completion is engaged with the second rack 402 and the second rack 404, it is by big spiral shell to be connected at Omni-mobile chassis 5 and the eight of vehicle body frame 2 Bolt 203 is completed, and main control box 3 is fixedly connected on vehicle body frame 2, and tray rack riser guide 205 and 206 is logical with vehicle body frame 2 Bolt is crossed to be fixedly connected.

As shown in fig. 6, the stereochemical structure of lift tray rack 4 is broadly divided into bearing part and drive part：Bearing part It is mainly made of supporting rack 411 and 412 two stands symmetrical configuration of supporting rack, bearing part is divided into four layers, and first layer is tray rack Head cover 405, the second layer are used to carry service plate 406 for loaded pallet 407, and third layer is used to carry service plate for loaded pallet 409 408, the 4th layer is base's cover board 410, in bottom base 415 driving that cooperates of the 3rd motor 413 and the 3rd motor 414 lift The lifting of formula tray rack 4, rear portion guide wheel 416 are used to engage rocking when guide rail reduces tray rack lifting with rear portion guide wheel 417, together When reduce friction of the lift tray rack 4 in uphill process.

The above is only the preferred embodiment of the utility model, it should be pointed out that：For the common skill of the art For art personnel, on the premise of the utility model principle is not departed from, several improvements and modifications can also be made, these improve and Retouching also should be regarded as the scope of protection of the utility model.

Claims (9)

1. a kind of truss-like autonomous meal delivery robot, it is characterised in that：Include transporting food and drink successively from top to bottom Truss manipulator（1）, equipped with lift tray rack（4）And main control box（3）Vehicle body frame（2）With omnidirectional's row for walking Walk chassis（5）；The truss manipulator（1）Including truss, the truss includes the two truss support shells being oppositely arranged （116）, the two truss support shells（116）Between be movably set with to hold up the lift tray rack（4）On meal The elevating mechanism of disk, the two truss support shells（116）Inside it is movably set with to make the elevated levels to sending The telescopic rail of meal；The truss manipulator（1）, elevating mechanism, lift tray rack（4）With omnidirectional's walking chassis（5）With The main control box（3）It is electrically connected.

2. a kind of truss-like autonomous meal delivery robot according to claim 1, it is characterised in that：The truss machinery Hand（1）The truss support shell including two gate（116）, the two truss support shells（116）It is fixed between upper surface There is front support seat（109）With rear support seat（108）, the rear support seat（108）On be connected with motor fixing plate（102）, the first electricity Machine（101）It is fixed on the motor fixing plate（102）Above and positioned at the front support seat（109）With rear support seat（108）Between, The front support seat（109）With rear support seat（108）Between the truss support shell（116）It is opposite that upper surface is provided with two Bearing bracket stand（107）, the first drive shaft（104）Through two bearing bracket stands（107）, first drive shaft（104）Middle part is set It is equipped with and first motor（101）Connected bevel gear（103）, first drive shaft（104）Both ends be connected with circle respectively Column spur gear（105,106）, the spur gear wheel（105,106）Positioned at the bearing bracket stand（107）Outside and bottom pass through The truss support shell（116）After the through hole on top with the first rack（110,111）Engagement, two first racks（110, 111）The upper end of a pair of of telescopic rail is separately fixed at telescopic rail to be helped to stretch, the guide rail telescopic movable is arranged at described Truss support shell（116）Interior, the telescopic rail is X arms（113）, two symmetrical X arms（113）Back is equipped with guided wheel slot （112）, the guided wheel slot（112）With mounted on the truss support shell（116）Internal guide wheel（114）It is engaged, it is described Truss support shell（116）Lower part is equipped with counterweight；The two X arms（113）Bottom plate is provided between rear portion（122）, the bottom Plate（122）On be provided with the second motor（117）, second motor（117）With gear set（118）It is connected, the gear set （118）In the second drive shaft, the both ends of second drive shaft are connected with the first sprocket wheel respectively（119,120）, the X arms （113）Forepart be provided with the second sprocket wheel, first sprocket wheel（119,120）The X arms are both secured to the axis of the second sprocket wheel （113）Medial surface, the same X arms（113）On first sprocket wheel（119,120）And second be connected with chain between sprocket wheel, The X arms（113）Medial surface on be additionally provided with walking race（121）.

3. a kind of truss-like autonomous meal delivery robot according to claim 2, it is characterised in that：The counterweight includes Several cylinder carrying rollers（115）.

4. a kind of truss-like autonomous meal delivery robot according to claim 2, it is characterised in that：The elevating mechanism For scissors-type lifting（9）.

5. a kind of truss-like autonomous meal delivery robot according to claim 4, it is characterised in that：The scissor lift Mechanism（9）Including by groove type component（904）And corner-shape component（903）The square basic support frame being combined into, it is described basic Support frame is internally provided with electric pushrod（901）, two opposing bottom edges of the basic support frame respectively with expansion bracket（907, 919）Top be connected, the expansion bracket（907,919）Bottom be connected on pedestal, two expansion brackets（907,919）Bottom Between be connected by connecting rod, the middle part of the connecting rod and the electric pushrod（901）Bottom be connected, the electric pushrod（901） Top be connected with basic support frame, wheel shaft（902）Both ends are connected to after being horizontally through the side wall of the basic support frame The walking race（121）The traveling wheel of middle walking（905）, be also connected on the basic support frame for the chain phase Connecting plate even（906）, the expansion bracket（907,919）Lower section be provided with two motors（908,909）, two motors （908,909）Symmetrically and centre distance is the length of one section of service plate, the motor（908,909）Respectively with leading screw （912,913）Pass through first shaft coupling（910,911）It is connected, the leading screw（912,913）Respectively with being fixed on slide（917, 918）On for holding up the fork arm of the service plate（915,914）It is connected, the slide（917,918）With motor（908,909） All it is fixed on angle steel（920）On, the angle steel（920）Positioned at the side of the pedestal.

6. a kind of truss-like autonomous meal delivery robot according to claim 1, it is characterised in that：The lift support Plate rail（4）Including bearing part and drive part, the bearing part includes bottom base（415）, the bottom base（415） Corner be both provided with stent, the cantilever tip is connected with tray rack head cover（405）, the stent bottom is connected with base's cover board （410）If the mid-stent is provided with dried layer for carrying the loaded pallet of service plate, the bottom base（415）Interior setting There are two the 3rd motors being mutually parallel（413,414）, the 3rd motor（413,414）Respectively with positioned at the bottom base （415）External gear（401,403）It is connected, the gear（401,403）Respectively with the second rack（402,404）Engagement；Institute State bottom base（415）With the gear（401,403）Opposite end set there are two rear portion guide wheel（416,417）, the vehicle Body frame（2）Inside be provided with vertically to tray rack riser guide（205,206）, the rear portion guide wheel（416,417）Position respectively In the tray rack riser guide（205,206）It is interior；Second rack（402,404）Also vertically to being arranged at the car body frame Frame（2）It is interior.

7. a kind of truss-like autonomous meal delivery robot according to claim 6, it is characterised in that：The vehicle body frame （2）It is built by aluminium, using trip bolt（201）And connector（202）It is fixedly connected with the vehicle body frame（2）Each connection Node.

8. a kind of truss-like autonomous meal delivery robot according to claim 2, it is characterised in that：The front support seat （109）With rear support seat（108）It is arranged at shell（8）It is interior, the shell（8）It is upper that interactive panel is housed（7）With several sound equipments （6）, the truss support shell（116）Bottom surface corner by support base（10）With the vehicle body frame（2）Upper surface is connected, institute State interactive panel（7）And sound equipment（6）With the main control box（3）It is connected.

9. a kind of truss-like autonomous meal delivery robot according to claim 8, it is characterised in that：The shell（8） For arc.