CN209160807U - A kind of robot that can recycle tableware automatically - Google Patents
A kind of robot that can recycle tableware automatically Download PDFInfo
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- CN209160807U CN209160807U CN201821135367.4U CN201821135367U CN209160807U CN 209160807 U CN209160807 U CN 209160807U CN 201821135367 U CN201821135367 U CN 201821135367U CN 209160807 U CN209160807 U CN 209160807U
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Abstract
A kind of robot that can recycle tableware automatically, belong to restaurant industry intelligent Service field, including chassis, left vertical lift column, right vertical lift column, left telescopic mechanical arm, right telescopic mechanical arm, tableware recovery box, desktop cleaning mechanism, left cleaner driving motor, right cleaner driving motor and double-faced advertising display screen；Mechanical arm turnover device is respectively arranged on left vertical lift column, right vertical lift column, the mechanical arm turnover device includes overturning joint gear deceleration device and overturning joint drive motor, it further include 2 safety collision-protection devices, guidance and positioning device, central dispatching management system CDMS；The beneficial effects of the utility model are: substantially increasing dining room operational paradigm and reducing cost of labor.
Description
Technical field
The utility model is a kind of robot for recycling tableware, in particular to a kind of machine with automatic recycling tableware
People belongs to restaurant industry intelligent Service field.
Background technique
With the rapid development of social economy, the raising of living standards of the people, catering trade seem more and more flourishing but flourishing
Under industry competition it is also fiercer, the especially continuous promotion of social employment environment, catering trade human resources are also increasingly
Anxiety, the high feature of catering industry mobility of people are also difficult to always overcome, and human cost is also riseing year by year, and human cost accounts for
According to important a part of food and beverage enterprise's cost, the manpower and management cost of deep layer are difficult to estimate.
Utility model content
The purpose of this utility model be for it is above-mentioned in the prior art, the defect of dining room human resources anxiety provides one
The robot that tableware can be recycled in kind of dining room automatically, can achieve that structure is simple, and design rationally, is readily produced, the degree of automation
High purpose.
To achieve the goals above the technical scheme adopted by the utility model is that: a kind of machine that can recycle tableware automatically
People, including several dining tables,
It further include chassis, left vertical lift column, right vertical lift column, left telescopic mechanical arm, right telescopic mechanical arm, meal
Have recycling bins, desktop cleaning mechanism, left cleaner driving motor, right cleaner driving motor and double-faced advertising display screen；On a left side
It is respectively arranged with mechanical arm turnover device on vertical lift column, right vertical lift column, the mechanical arm turnover device includes
Joint gear deceleration device and overturning joint drive motor are overturn, the product type of overturning joint gear deceleration device is DER80；
In robot bottom, chassis includes 4 chassis driving devices, 4 omnidirectional driving wheels, 2 electricity for the chassis setting
Pond group, motion control device and master control set；1 group of chassis driving wheel is formed by 1 chassis driving device and 1 omnidirectional driving wheel
Group, totally 4 groups of chassis driving wheel components are located at 4 corners on chassis；2 battery packs set up 2 edge on chassis separately；The movement control
Device and master control set processed are simultaneously located in the middle part of chassis；Chassis can be kept straight on the ground by omnidirectional driving wheel and row, can original place
Turning；Chassis has ranging, anticollision, avoidance, emergency braking security function；
The product type of the chassis driving device is AMC driver, and the product type of the omnidirectional driving wheel is MWQ-
168, the product type of the motion control device is TZ2812 motion control board, and the master control set is designed using MCU；
The left vertical lift column is arranged on the left of chassis, and the right vertical lift column is arranged on the right side of chassis, left
Column and right vertical lift column is vertically moved up or down to be symmetrical arranged in chassis arranged on left and right sides；Side is arranged in left vertical lift column
There are left sliding rail and left vertical lifting mechanism, side is provided with right sliding rail and right vertical lifting mechanism in right vertical lift column；
The left vertical lifting mechanism includes left screw driving motor, left screw, left slider A, the left screw driving electricity
Machine setting is arranged in left vertical lift column, in front of left sliding rail in left vertical lift column bottom, the left screw；The left side
Sliding block A is arranged in left screw, and the side left slider A is provided with screw hole, and left slider A is socketed, simultaneously by screw hole and left screw
For screw rod rotation connection, the rotation of left screw becomes moving up and down for left slider A；
On the outside of left slider A, it is disposed with fixed plate and overturning joint gear deceleration device, overturning joint gear slows down
Device includes rotation axis, and the rotation axis is stretched out from fixed plate side, is rotatablely connected with left slider A, and rotation axis and fixed plate are solid
Fixed connection, the fixed plate other side is fixedly connected with left telescopic mechanical arm rear end；Left slider A and overturning joint gear deceleration device are logical
Rotation axis connection is crossed, the setting overturning joint drive motor above overturning joint gear deceleration device；Left screw driving motor opens
It is dynamic, left screw rotation is driven, so that left slider A and left overturning joint gear deceleration device be driven to slide on left sliding rail, a left side is turned over
Turn joint gear deceleration device drives left telescopic mechanical arm to realize lifting again；Left overturning joint gear deceleration device also can be by turning over
Turn joint drive motor, make fixed plate, left telescopic mechanical arm on vertical lift column, realizes 90 ° or 180 ° by rotation axis
Overturning；
The left telescopic mechanical arm includes left first mechanical arm and left second mechanical arm, and the left first mechanical arm level is set
It sets；The left first mechanical arm includes left mechanical arm shell, left mechanical arm telescopic drive motor, left sliding screw A, left slide bar A
With left mechanical arm transmission joint；The left mechanical arm telescopic drive motor is arranged above left first mechanical arm rear end, institute
It states left sliding screw A and left slide bar A to be arranged in left first mechanical arm, the left mechanical arm transmission joint setting is left the
One mechanical arm rear end；
The right vertical lifting mechanism and left vertical lifting mechanism, structure is identical, left and right directions is opposite；Right vertical conveyor
Structure includes right screw driving motor, right screw, right sliding block A, and the right screw driving motor is arranged at right vertical lift column bottom
Portion, the right screw are arranged in right vertical lift column, in front of right sliding rail；The left slider A is arranged in right screw, right cunning
The side block A is provided with screw hole, and right sliding block A is socketed by screw hole and right screw and is screw rod rotation connection, and right screw turns
It is dynamic to become moving up and down for right sliding block A；
On the outside of right sliding block A, it is disposed with fixed plate and overturning joint gear deceleration device, overturning joint gear slows down
Device includes rotation axis, and the rotation axis is stretched out from fixed plate side, is rotatablely connected with right sliding block A, and rotation axis and fixed plate are solid
Fixed connection, the fixed plate other side is fixedly connected with right telescopic mechanical arm rear end；Right sliding block A and overturning joint gear deceleration device are logical
Rotation axis connection is crossed, the setting overturning joint drive motor above overturning joint gear deceleration device；Right screw driving motor opens
It is dynamic, right screw rotation is driven, so that right sliding block A and right overturning joint gear deceleration device be driven to slide on right sliding rail, the right side is turned over
Turn joint gear deceleration device drives right telescopic mechanical arm arm to realize lifting again；Right overturning joint gear deceleration device can also pass through
Overturning joint drive motor makes right telescopic mechanical arm on vertical lift column, realizes 90 ° or 180 ° overturnings by rotation axis；
The right telescopic mechanical arm is identical as left telescopic mechanical arm structure, left and right directions is opposite；Right telescopic mechanical arm includes
Right first mechanical arm and right second mechanical arm, the right first mechanical arm are horizontally disposed；The right first mechanical arm includes right machine
Tool arm housing, right mechanical arm telescopic drive motor, right sliding screw A, right slide bar A and right mechanical arm transmission joint；It is described
Right mechanical arm telescopic drive motor is arranged above right first mechanical arm rear end, and the right sliding screw A and right slide bar A setting exist
In right first mechanical arm, the right mechanical arm transmission joint is arranged in right first mechanical arm rear end；
Left mechanical arm telescopic drive motor can pass through left mechanical arm transmission joint and sliding screw A, a drive left side second
Mechanical arm is elastic；The left second mechanical arm includes left slide bar B, the left slider B and left sliding silk of left slide construction, two sides
Bar B, the left slide construction are connect with left sliding screw A with screw rod transmission, and the left slide construction two sides and left slide bar A are sliding
Dynamic cooperation, the left sliding screw B front-rear direction are arranged among left second mechanical arm, and the left slider B is arranged in left sliding
It is slidably matched on screw rod B, with left sliding screw B；The left cleaner driving motor is arranged in left second mechanical arm front end, Zuo Qing
Clean machine driving motor can drive left sliding screw B to rotate, so that left slider B be driven to be moved forward and backward on left sliding screw B；
Right mechanical arm telescopic drive motor can pass through right mechanical arm transmission joint and sliding screw A, the drive right side second
Mechanical arm is elastic；The right second mechanical arm is identical as left second mechanical arm structure, left and right directions is opposite；The right side second is mechanical
Arm includes right slide construction, the right slide bar B of two sides, right slide block B and right sliding screw B, the right slide construction and right sliding silk
Bar A is connected with screw rod transmission, and the right slide construction two sides are slidably matched with right slide bar A, the right sliding screw B front-rear direction
It is arranged among right second mechanical arm, the right slide block B setting is slidably matched on right sliding screw B, with right sliding screw B；
The right cleaner driving motor is arranged in right second mechanical arm front end, and right cleaner driving motor can drive right sliding screw B
Rotation, so that right slide block B be driven to be moved forward and backward on right sliding screw B；
The desktop cleaning mechanism is arranged between left second mechanical arm and right second mechanical arm, the desktop cleaning mechanism
Including push plate, cleaning solution the storage box, left 180 ° of motor overturning devices, right 180 ° of motor overturning devices, left attachment device, right connection
Device, cleaning solution jet pump, 3-7 cleaning solution spray head, cleaning sponge item, rubber flap and quick-drying cleaning device；Cleaning solution spray
It penetrates pump and selects Nidec NIDEC, product type is 00H220H022 water pump；
The push plate is horizontally installed on desktop cleaning mechanism lower part, and the cleaning solution the storage box is arranged in desktop cleaning mechanism
Above top, push plate；Left and right 180 ° of motor overturning devices are separately positioned on 2 end of push plate, are fixedly connected with push plate；Zuo Lian
Between left 180 ° of motor overturning devices and left slider B, left attachment device side and left 180 ° of motor overturnings are filled for connection device setting
It sets and is fixedly connected, the left attachment device other side couples with left slider B；The setting of right attachment device right 180 ° of motor overturning devices with
Between right slide block B, right attachment device side is fixedly connected with right 180 ° of motor overturning devices, the right attachment device other side and right cunning
Block B connection；The cleaning solution jet pump is arranged in push plate side；3-7 cleaning solution spray head is arranged below push plate front end；It is described
Cleaning sponge item, rubber flap and quick-drying cleaning device are sequentially arranged front to back certainly in push plate bottom part down；
The tableware recovery box is arranged above chassis, between left vertical lift column and right vertical lift column；Tableware
Recycling bins include 2 pallet vertical screw rod lifting devices, tableware tray, gravity sensor and electric door device；2 pallet verticals
Screw rod lifting device is vertically set on both ends inside tableware recovery box, and each pallet vertical screw rod lifting device respectively includes 1 support
Parcel bar driving motor and 1 pallet lift screw rod are provided with pallet lift screw rod sliding block, totally 2 on the pallet lift screw rod
Block pallet lift screw rod sliding block；The tableware tray horizontal direction is fixed between 2 pieces of pallet lift screw rod sliding blocks；Institute
Gravity sensor is stated to be fixedly mounted below tableware tray；The electric door device is arranged above tableware recovery box, electrically operated gate
Device includes electronic overhead door and electronic overhead door driving motor, and the electronic overhead door and tableware recovery box top side are rotatablely connected,
Below the electronic overhead door driving motor is arranged at electronic overhead door and tableware recovery box rotation connection；Gravity sensor uses
JLBS-MD model；
The upper position between left vertical lift column and right vertical lift column is arranged in the double-faced advertising display screen,
Double-faced advertising display screen is liquid crystal display mode, lamp box display mode or LED display mode, to realize various advertisements a surname in dining room
Biography, video playing and video interactive function.
2 side of left screw is each provided with 1 guide post, and 2 side of screw hole of left slider A is each provided with 1 guide pillar hole, guide post
It is plugged in guide pillar hole；2 side of right screw is each provided with 1 guide post, and 2 side of screw hole of right sliding block A is each provided with 1 guide post
Hole, guide post are plugged in guide pillar hole；When left and right sliding block A is slided up and down, guide pillar hole on guide post, slide up and down.
The left screw of left vertical lift device can also be replaced with chain or belt.
The right screw of right vertical lift device can also be replaced with chain or belt.
Left sliding screw A, left sliding screw B, right sliding screw A, right sliding screw B can also use chain or belt generation
It replaces.
The desktop cleaning mechanism includes 5 cleaning solution spray heads, and 5 cleaning solution spray heads are equidistantly arranged below push plate front end
Column.
The cleaning sponge item can be changed to rolling cleaning brush.
Fitting type rubber item is provided with below left and right first mechanical arm and left and right second mechanical arm；Left and right first machine
Tool arm and left and right second mechanical arm can push down dining table both sides of the edge automatically, and fitting type rubber item can be pressed on dining table both sides of the edge,
It is to prevent tableware of the desktop cleaning mechanism in progradation on dining table and remaining the phenomenon that falling down from desktop that it, which is acted on, is prevented
Only break tableware and pollution ground.
Double-faced advertising display screen is double-side liquid crystal display screen, using liquid crystal display mode.
Double-faced advertising display screen is double-faced lamp, using lamp box display mode.
Double-faced advertising display screen is dual surface LED display, using LED display mode.
Further include central dispatching management system CDMS, the central dispatching management system CDMS wirelessly with master control
Device establishes communication, realizes and closes to left screw driving motor, right screw driving motor, left overturning joint drive motor, right overturning
Save driving motor, motion control device, left mechanical arm telescopic drive motor, right mechanical arm telescopic drive motor, gravity sensor,
Electric door device, left screw driving motor, right screw driving motor, left cleaner driving motor, right cleaner driving motor
Control；
The motion control device is used for the drive control of robot, and master control set is to motion control device and electronic to turn over
The control of door driving motor, and 4 chassis driving devices on chassis can be instructed.
It further include 2 safety collision-protection devices, guidance and positioning device, 2 safety collision-protection devices set up separately at 2 ends on chassis
Portion, the guidance and positioning device are arranged in the middle part of chassis, between motion control device and master control set；The anticollision dress
The product type set is HOKUYO-2+ machinery anticollision strip, and the product type of the guidance and positioning device is SMR-100B.
Compared with prior art, the utility model has the beneficial effects that entire tableware recycling and dining table cleaning process are realized
Automation and intelligence, substantially increase dining room operational paradigm and reduce cost of labor.
Detailed description of the invention
Fig. 1 is: the utility model perspective view (no double-faced advertising display screen)；
Fig. 2-1 is: the utility model main view (first mechanical arm is in bottom position state, and second mechanical arm does not extend out)；
Fig. 2-2 is: the utility model main view (first mechanical arm is in middle position position state, and second mechanical arm does not extend out)；
Fig. 2-3 is: the utility model main view (first mechanical arm is in bottom position state, and second mechanical arm is stretched out)；
Fig. 3-1 is: chassis, left and right vertical lift column, left and right telescopic mechanical arm, tableware recovery box, desktop cleaning mechanism,
(left and right telescopic mechanical arm realizes 90 ° of overturnings, and place hangs down for left and right cleaner driving motor and double-faced advertising display screen combined front view
Straight upward state)；
Fig. 3-2 is: chassis, left and right vertical lift column, left and right telescopic mechanical arm, tableware recovery box, desktop cleaning mechanism,
(left and right telescopic mechanical arm realizes 90 ° of overturnings, and place hangs down for left and right cleaner driving motor and double-faced advertising display screen combination left view
Straight upward state)；
Fig. 4-1 is: left vertical lift column and left telescopic mechanical arm combination stereogram (left second mechanical arm does not extend out)；
Fig. 4-2 is: left vertical lift column and left telescopic mechanical arm combination stereogram (left second mechanical arm stretching)；
Fig. 5-1 is: left vertical lift column and left telescopic mechanical arm combined front view are (without mechanical arm housing, left second machine
Tool arm does not extend out)；
Fig. 5-2 is: left vertical lift column and left telescopic mechanical arm combination top view are (without mechanical arm housing, left second machine
Tool arm does not extend out)；
Fig. 5-3 is: left vertical lift column and left telescopic mechanical arm combination stereogram are (without mechanical arm housing, left second machine
Tool arm does not extend out)；
Fig. 6-1 is: left vertical lift column and left telescopic mechanical arm combined front view are (without mechanical arm housing, left second machine
Tool arm stretches out)；
Fig. 6-2 is: left vertical lift column and left telescopic mechanical arm combination top view are (without mechanical arm housing, left second machine
Tool arm stretches out)；
Fig. 6-3 is: left vertical lift column and left telescopic mechanical arm combination stereogram are (without mechanical arm housing, left second machine
Tool arm stretches out)；
Fig. 6-4 is: the portion the A enlarged drawing of Fig. 6-3；
Fig. 7 is: chassis structure top view；
Fig. 8-1 is: desktop cleaning mechanism main view；
Fig. 8-2 is: desktop cleaning mechanism right view；
Fig. 9 is: tableware recovery box internal structure chart.
Description of symbols: dining table 1, chassis 2, chassis driving device 201, omnidirectional driving wheel 202, battery pack 203, movement
Control device 204, master control set 205, chassis driving wheel group 206, left vertical lift column 3, left sliding rail 301, left vertical lift
Mechanism 302, left screw driving motor 303, left screw 304, left slider A 305, right vertical lift column 4, right sliding rail 401, the right side
Vertical lifting mechanism 402, right screw 403, left telescopic mechanical arm 5, left first mechanical arm 501, left mechanical arm shell 50101, a left side
Mechanical arm telescopic drive motor 50102, left sliding screw A 50103, left slide bar A 50104, left mechanical arm transmission joint
50105, left second mechanical arm 502, left slide construction 50201, left slide bar B 50202, left slider B 50203, right flexible machinery
Arm 6, right first mechanical arm 601, right mechanical arm shell 60101, right mechanical arm telescopic drive motor 60102, right sliding screw A
60103, right slide bar A 60104, right second mechanical arm 602, right slide bar B 60201, right sliding screw B 60202, recycling bins 7,
Pallet vertical screw rod lifting device 701, pallet 702, gravity sensor 703, electric door device 704, electronic overhead door 70401, electricity
Dynamic overhead door driving motor 70402, pallet screw rod transmission motor 705, pallet lift screw rod 706, pallet lift screw rod sliding block 707,
Desktop cleaning mechanism 8, push plate 801, cleaning solution the storage box 802, left 180 ° of motor overturning devices 803, right 180 ° of motor overturnings dress
Set 804, left attachment device 805, right attachment device 806, cleaning solution jet pump 807, cleaning solution spray head 808, cleaning sponge item
809, rubber flap 8010, quick-drying cleaning device 8011, left cleaner driving motor 9, right cleaner driving motor 10, two-sided wide
Display screen 11 is accused, mechanical arm turnover device 12, overturning joint gear deceleration device 1201, joint drive motor 1202 is overturn, is solid
Fixed board 13, safety collision-protection device 14, guidance and positioning device 15.
Specific embodiment
The utility model is described in further detail in the following with reference to the drawings and specific embodiments, but not as to the utility model
Restriction.
As shown in Figures 1 to 9, a kind of robot that can recycle tableware automatically, including several dining tables 1,
It further include chassis 2, left vertical lift column 3, right vertical lift column 4, a left side as shown in Fig. 1, Fig. 3-2 and Fig. 6-4
Telescopic mechanical arm 5, right telescopic mechanical arm 6, tableware recovery box 7, desktop cleaning mechanism 8, left cleaner driving motor 9, right cleaning
Machine driving motor 10 and double-faced advertising display screen 11；It is respectively arranged on left vertical lift column 3, right vertical lift column 4
Mechanical arm turnover device 12, the mechanical arm turnover device 12 include that overturning joint gear deceleration device 1201 and overturning joint are driven
Dynamic motor 1202, the product type of overturning joint gear deceleration device 1201 are DER80；
As shown in fig. 7, the setting of chassis 2, in robot bottom, chassis 2 includes 4 chassis driving devices 201,4 complete
To 202,2 battery packs 203 of driving wheel, motion control device 204 and master control set 205；By 1 chassis driving device 201 and 1
A omnidirectional driving wheel 202 forms one group of chassis driving wheel group 206, and totally four groups of chassis driving wheel groups 206 set up 4 on chassis 2 separately
Corner；2 battery packs 203 set up two edge on chassis 2 separately；The motion control device 204 and master control set 205 are simultaneously located at bottom
2 middle part of disk；Chassis 2 can be kept straight on the ground by omnidirectional driving wheel 202 and row, can pivot turn；Chassis 2 have ranging,
Anticollision, avoidance, emergency braking security function；
The product type of the chassis driving device 201 is AMC driver, the product type of the omnidirectional driving wheel 202
For MWQ-168, the product type of the motion control device 204 is TZ2812 motion control board, and the master control set 205 uses
MCU design；
As shown in Fig. 1, Fig. 6-3, the left setting of vertical lift column 3 is in 2 left side of chassis, the right vertical lift column
4 settings are symmetrical arranged in 2 right side of chassis, left vertical lift column 3 and right vertical lift column 4 in 2 arranged on left and right sides of chassis；It is left
Side is provided with left sliding rail 301 and left vertical lifting mechanism 302 in vertical lift column 3, and side is set in right vertical lift column 4
It is equipped with right sliding rail 401 and right vertical lifting mechanism 402；
As shown in Fig. 6-3, Fig. 6-4, the left vertical lifting mechanism 302 includes left screw driving motor 303, left screw
304, left slider A 305, the left screw driving motor 303 are arranged in left 3 bottom of vertical lift column, the left screw 304
It is arranged in left vertical lift column 3,301 front of left sliding rail；The left slider A 305 is arranged in left screw 304, left slider
305 side A is provided with screw hole, and left slider A 305 is socketed by screw hole and left screw 304 and is rotatablely connected for screw rod,
The rotation of left screw 304 becomes moving up and down for left slider A 305；
As shown in Fig. 6-2, Fig. 6-4, in 305 outside left slider A, it is disposed with fixed plate 13 and overturning joint gear
Deceleration device 1201, overturning joint gear deceleration device 1201 include rotation axis, and the rotation axis is stretched out from 13 side of fixed plate,
It is rotatablely connected with left slider A 305, rotation axis is fixedly connected with fixed plate 13,13 other side of fixed plate and left telescopic mechanical arm 5
Rear end is fixedly connected；Left slider A 305 and overturning joint gear deceleration device 1201 are by rotation axis connection, in overturning joint tooth
Take turns setting overturning joint drive motor 1202 above deceleration device 1201；Left screw driving motor 303 starts, and drives left screw
304 rotations, so that left slider A 305 and left overturning joint gear deceleration device 1201 be driven to slide on left sliding rail 301, a left side is turned over
Turn joint gear deceleration device 1201 drives left telescopic mechanical arm 5 to realize lifting again；Left overturning joint gear deceleration device
1201 can also be led to by overturning joint drive motor 1202, making fixed plate 13, left telescopic mechanical arm 5 on vertical lift column
It crosses rotation axis and realizes 90 ° or 180 ° overturnings；
As shown in Fig. 4-1, Fig. 4-2, Fig. 6-3, Fig. 6-4, the left telescopic mechanical arm 5 includes left 501 He of first mechanical arm
Left second mechanical arm 502, the left first mechanical arm 501 are horizontally disposed；The left first mechanical arm 501 includes left mechanical arm shell
Body 50101, left mechanical arm telescopic drive motor 50102, left sliding screw A 50103, left slide bar A 50104 and left mechanical arm pass
Dynamic attachment device 50105；The left mechanical arm telescopic drive motor 50102 is arranged above left 501 rear end of first mechanical arm, institute
It states left sliding screw A 50103 and left slide bar A 50104 to be arranged in left first mechanical arm 501, the left mechanical arm transmission connects
Connection device 50105 is arranged in left 501 rear end of first mechanical arm；
The right vertical lifting mechanism 402 and left vertical lifting mechanism 302, structure is identical, left and right directions is opposite；It is right vertical
Elevating mechanism 402 includes right screw driving motor (not shown), right screw 403, right sliding block A (not shown), described
The setting of right screw driving motor (not shown) is in right 4 bottom of vertical lift column, and the setting of right screw 403 is right vertical
In lifting column 4, in front of right sliding rail 401；The left slider A 305 is arranged in right screw 403, and right sliding block A (is not shown in figure
Showing) side is provided with screw hole, and right sliding block A (not shown) is socketed by screw hole and right screw 403 and is rotated for screw rod
Connection, the rotation of right screw 403 become moving up and down for right sliding block A (not shown)；
On the outside of right sliding block A (not shown), it is disposed with fixed plate 13 and overturning joint gear deceleration device
1201, overturning joint gear deceleration device 1201 includes rotation axis, and the rotation axis is stretched out from 13 side of fixed plate, with right sliding block
The rotation connection of A (not shown), rotation axis are fixedly connected with fixed plate 13,13 other side of fixed plate and right telescopic mechanical arm 6
Rear end is fixedly connected；Right sliding block A (not shown) and overturning joint gear deceleration device 1201 are being turned over by rotation axis connection
Turn setting overturning joint drive motor 1202 above joint gear deceleration device 1201；Right screw driving motor (not shown)
Starting drives right screw 403 to rotate, to drive right sliding block A (not shown) and right overturning joint gear deceleration device
1201 slide on right sliding rail 401, and right overturning joint gear deceleration device 1201 drives right telescopic mechanical arm 6 to realize lifting again；
Right overturning joint gear deceleration device 1201 also can by overturning joint drive motor 1202, make right telescopic mechanical arm 6 vertical
On lifting column, 90 ° or 180 ° overturnings are realized by rotation axis；
The right telescopic mechanical arm 6 is identical as left 5 structure of telescopic mechanical arm, left and right directions is opposite；Right telescopic mechanical arm 6 is wrapped
Right first mechanical arm 601 and right second mechanical arm 602 are included, the right first mechanical arm 601 is horizontally disposed；Described right first is mechanical
Arm 601 include right mechanical arm shell 60101, right mechanical arm telescopic drive motor 60102, right sliding screw A (not shown),
Right slide bar A (not shown) and right mechanical arm transmission joint (not shown)；The flexible driving electricity of the right mechanical arm
Machine 60102 is arranged above right 601 rear end of first mechanical arm, the right sliding screw A (not shown) and right slide bar A (figure
In do not show) be arranged in right first mechanical arm 601, the right mechanical arm transmission joint (not shown) is arranged on the right side
601 rear end of first mechanical arm；
Left mechanical arm telescopic drive motor 50102 can pass through left mechanical arm transmission joint 50105 and left sliding screw A
50103, drive left second mechanical arm 502 elastic；As shown in Fig. 1, Fig. 6-1, Fig. 6-2, Fig. 6-3, described left second is mechanical
Arm 502 is including left slide construction 50201, left slide bar B 50202, the left slider B 50203 of two sides and left sliding screw B (in figure
Do not show), the left slide construction 50201 is connect with left sliding screw A 50103 with screw rod transmission, the left slide construction
50201 two sides are slidably matched with left slide bar A 50104, and the left sliding screw B (not shown) front-rear direction is arranged on a left side
Among second mechanical arm 502, the left slider B 50203 is arranged in left sliding screw B (not shown) and left sliding silk
Bar B (not shown) is slidably matched；The left cleaner driving motor 9 is arranged in left 502 front end of second mechanical arm, Zuo Qingjie
Machine driving motor 9 can drive left sliding screw B (not shown) to rotate, to drive left slider B 50203 in left sliding silk
It is moved forward and backward in bar B (not shown)；
Right mechanical arm telescopic drive motor 60102 can pass through right mechanical arm transmission joint (not shown) and right cunning
Dynamic screw rod A (not shown) drives right second mechanical arm 602 elastic；The right second mechanical arm 602 and left second machine
502 structure of tool arm is identical, left and right directions is opposite；Right second mechanical arm 602 includes right slide construction (not shown), two sides
Right slide bar B 60201, right slide block B (not shown) and right sliding screw B 60202, the right slide construction (are not shown in figure
Show) it is connect with right sliding screw A (not shown) with screw rod transmission, the right slide construction (not shown) two sides and the right side
Slide bar A (not shown) is slidably matched, and right 60202 front-rear direction of sliding screw B is arranged in right second mechanical arm 602
Centre, the right slide block B (not shown) are arranged on right sliding screw B 60202, slide with right sliding screw B 60202
Cooperation；The right cleaner driving motor 10 is arranged in right 602 front end of second mechanical arm, and right cleaner driving motor 10 can drive
Right sliding screw B 60202 is rotated, thus drive right slide block B (not shown) on right sliding screw B 60202 before move back
It is dynamic；
As shown in Fig. 1, Fig. 3-2, the desktop cleaning mechanism 8 is arranged in left second mechanical arm 502 and right second mechanical arm
Between 602, as shown in Fig. 8-1, Fig. 8-2, the desktop cleaning mechanism 8 includes push plate 801, cleaning solution the storage box 802,180 ° of a left side
Motor overturning device 803, right 180 ° of motor overturning devices 804, left attachment device 805, right attachment device 806, cleaning solution injection
Pump 807,5 cleaning solution spray heads 808, cleaning sponge item 809, rubber flap 8010 and quick-drying cleaning device 8011；Cleaning solution spray
It penetrates pump 807 and selects Nidec NIDEC, product type is 00H220H022 water pump；
The push plate 801 is horizontally installed on 8 lower part of desktop cleaning mechanism, and the cleaning solution the storage box 802 is arranged in desktop
8 top of cleaning mechanism, 801 top of push plate；Left and right 180 ° of motor overturning devices 804 be separately positioned on 8012 end of push plate, with
Push plate 801 is fixedly connected；Left attachment device 805 is arranged between left 180 ° of motor overturning devices 803 and left slider B 50203,
Left 805 side of attachment device is fixedly connected with left 180 ° of motor overturning devices 803, left 805 other side of attachment device and left slider B
50203 connections；Right attachment device 806 is arranged between right 180 ° of motor overturning devices 804 and right slide block B (not shown),
Right 806 side of attachment device is fixedly connected with right 180 ° of motor overturning devices 804, right 806 other side of attachment device and right slide block B
(not shown) connection；The cleaning solution jet pump 807 is arranged in 801 side of push plate；5 settings of cleaning solution spray head 808 exist
Below 801 front end of push plate；The cleaning sponge item 809, rubber flap 8010 and quick-drying cleaning device 8011 are in 801 bottom of push plate
Lower section is sequentially arranged front to back certainly；
As shown in figure 9, the tableware recovery box 7 is arranged above chassis 2, left vertical lift column 3 and right vertical lift
Between column 4；Tableware recovery box 7 includes 2 pallet vertical screw rod lifting devices 701, tableware tray 702, gravity sensor 703
With electric door device 704；2 pallet vertical screw rod lifting devices 701 are vertically set on 7 inside both ends of tableware recovery box, each
Pallet vertical screw rod lifting device 701 is described respectively including 1 pallet screw rod transmission motor 705 and 1 pallet lift screw rod 706
Pallet lift screw rod sliding block 707, totally 2 pieces of pallet lift screw rod sliding blocks 707 are provided on pallet lift screw rod 706；The tableware
702 horizontal direction of pallet is fixed between 2 pieces of 706 sliding blocks of pallet lift screw rod；The fixed peace of the gravity sensor 703
Mounted in 702 lower section of tableware tray；The electric door device 704 is arranged above tableware recovery box 7, and electric door device 704 includes
Electronic overhead door 70401 and electronic overhead door driving motor 70402, the electronic overhead door 70401 turn with 7 top side of tableware recovery box
Dynamic connection, under the electronic overhead door driving motor 70402 is arranged at electronic overhead door 70401 with 7 rotation connection of tableware recovery box
Side；Gravity sensor 703 uses JLBS-MD model；
As shown in figure 3-2, the double-faced advertising display screen 11 is arranged in left vertical lift column 3 and right vertical lift column
Upper position between 4, double-faced advertising display screen 11 is LED display mode, to realize that the various advertisings in dining room, video are broadcast
It puts and video interactive function.
When left mechanical arm telescopic drive motor 50102 and right mechanical arm telescopic drive motor 60102 start, make left the respectively
The left sliding screw B (not shown) movement of two mechanical arm 602, the right sliding screw B 60202 of right second mechanical arm 602 movement,
Drive second mechanical arm to retracting inside first mechanical arm, 601 direction of first mechanical arm to left and right immediately of desktop cleaning mechanism 8
Sliding, when desktop cleaning mechanism 8 reaches left and right 601 front end of first mechanical arm, i.e., left and right second mechanical arm 602 is completely
It is retracted to inside left and right first mechanical arm 601 respectively, the flexible driving electricity of left mechanical arm telescopic drive motor 50102, right mechanical arm
Machine 60102 is out of service, and left and right cleaner driving motor 10 starts, and drives desktop cleaning mechanism 8 to 1 rear end of dining table, recycling bins
7 directions promote；
Before recycling tableware, pallet screw rod transmission motor 705 drives pallet 702 to exist by 702 screw rod sliding block 50203 of pallet
7 uppermost position of tableware recovery box, in tableware removal process, tableware is fallen on pallet 702, and 702 weight of pallet becomes
Change, signal is sent to master control set, master control set order screw drive motor by gravity sensor 703 by tableware recovery box 7
Starting drives increase of the pallet 702 from cabinet top with recycling tableware weight by setting speed, and automatic decline pallet 702 is high
Degree issues the collision sound between tableware during preventing tableware from falling recycling bins 7 from desktop, and tableware collision is drawn in order to prevent
Damage is played, electric door device 704 can be automatically opened when recycling tableware, can be automatically closed after harvesting tableware；
The cleansing solution sprayer when promoting of desktop cleaning mechanism 8 automatically can spray cleaning solution to desktop, clear in desktop
Clean mechanism 8 is clear by the cleaning sponge item 809 and the friction of desktop that are mounted on 8 bottom of desktop cleaning mechanism during promoting
It is clean, oil removing, stain are gone, then liquid will be cleaned by rubber flap 8010 and swill is scraped completely, after being located at rubber flap 8010
It is thoroughly clean that rubber flap 8010 can be left water mark etc. by the quick-drying cleaning device 8011 in portion；Desktop cleaning mechanism 8 passes through
The place crossed is clean by automated cleaning；
In the front of left vertical lift column 3, right vertical lift column 4 and tableware recovery box 7, realizes and execute one for the first time
After 1 task of dining table, left telescopic mechanical arm 5 and 6 180 ° of right telescopic mechanical arm are turned to left vertical lift column 3, right vertical liter
The rear of column 4 and tableware recovery box 7 drops, 8 180 ° of desktop cleaning mechanism overturnings, execute another dining table 1 tableware recycling and
Clean up task improves operating efficiency.
As shown in Fig. 6-3, Fig. 6-4,304 both sides of left screw are each provided with 1 guide post, the screw rod of left slider A 305
Hole both sides are each provided with 1 guide pillar hole, and guide post is plugged in guide pillar hole；403 both sides of right screw are each provided with 1 guide post,
The screw hole both sides of right sliding block A (not shown) are each provided with 1 guide pillar hole, and guide post is plugged in guide pillar hole；When left and right cunning
When block A (not shown) slides up and down, guide pillar hole on guide post, slide up and down.
As shown in Fig. 8-1, on left first mechanical arm 501, right first mechanical arm 601, left second mechanical arm 502, the right side second
Fitting type rubber item is provided with below mechanical arm 602；Left first mechanical arm 501, right first mechanical arm 601, left second mechanical arm
502, right second mechanical arm 602 can push down 1 both sides of the edge of dining table automatically, and fitting type rubber item can be pressed on 1 both sides of the edge of dining table,
It is to prevent tableware of the desktop cleaning mechanism 8 in progradation on dining table 1 and remaining the phenomenon that falling down from desktop that it, which is acted on,
It prevents from breaking tableware and pollution ground.
As shown in figure 3-2, double-faced advertising display screen 11 is dual surface LED display, using LED display mode.
Further include central dispatching management system CDMS, the central dispatching management system CDMS wirelessly with master control
Device 205 establishes communication, realizes to left screw driving motor 303, left screw driving motor 403, left overturning joint drive motor
1202, right overturning joint drive motor 1202, motion control device 204, left mechanical arm telescopic drive motor 50102, right machinery
Arm telescopic drive motor 60102, gravity sensor 703, electric door device 704, left screw driving motor 303, right screw driving
The control of motor (not shown), left cleaner driving motor 9, right cleaner driving motor 10；
The motion control device 204 is used for the drive control of robot, and master control set 205 is to motion control device
204 and electronic overhead door driving motor 70402 control, and 4 chassis driving devices 201 on chassis 2 can be instructed.
As shown in figure 4, further including 2 safety collision-protection devices 14, guidance and 15,2 safety collision-protection devices 14 of positioning device
Set up separately in 2 ends on chassis 2, the guidance and the setting of positioning device 15 in 2 middle part of chassis, motion control device 204 and master control
Between device 205；The product type of the safety collision-protection device 14 is HOKUYO-2+ machinery anticollision strip, the guidance and positioning
The product type of device 15 is SMR-100B.
The following specific operation process of working method:
It is filled first by master control set 205 to motion control from kitchen operator by central dispatching management system CDMS
204 sendings instruction is set, after 4 chassis driving devices, 201,4 chassis driving devices 201 on instruction starting chassis 2 are connected to instruction,
Start chassis driving device 201, robot is travelled to target seats in a restaurant, and the driving device on chassis 2 can be according to the fortune on chassis 2
Dynamic control device 204 carries out straight trip and row by navigation, can be with pivot turn, and flexible driving mode is to object run, originally
Robot is accurately positioned after reaching target, and after positioning successfully, central dispatching management system CDMS and master control set 205 are wireless
Connection, robot are executed to issue orders:
(1) 205 order left screw driving motor 303 of master control set, the starting of right screw driving motor (not shown), will
Left first mechanical arm 501, right first mechanical arm 601 rise to left vertical lift column 3, right 4 top of vertical lift column, and left the
One mechanical arm 501, right first mechanical arm 601 are in state vertically upward；
(2) master control set 205 orders left and right overturning joint drive motor 1202 to start, and makes left and right mechanical arm turnover device
It is turned under 12 90 ° of execution, first mechanical arm is made to be parallel to 1 top of dining table；
(3) 205 order left mechanical arm telescopic drive motor 50102 of master control set, right mechanical arm telescopic drive motor 60102
Starting, makes the second from left mechanical arm 502, right second mechanical arm 602 extend forwardly into 1 front end of dining table, one end remote from recycling bins 7；
(4) 205 order left screw driving motor 303 of master control set, right screw driving motor (not shown) by first,
1 dual side-edge edge of dining table is pushed down in the decline of two mechanical arms, and effect is to prevent desktop cleaning mechanism 8 from blocking tableware in progradation
It will not be fallen down from desktop；
(5) master control set 205 orders electronic overhead door driving motor 70402 to start, and tableware recovery box 7 is made to start electronic overhead door
70401, it is allowed to open；
(6) 205 Installing of Command of master control set left second mechanical arm 502,602 front end of right second mechanical arm it is left and right clear
Clean machine driving motor 10 starts, and drives desktop cleaning mechanism 8 to lean on recycling bins 7 to dining table 1 by left and right cleaner driving motor 10
One end promotes, and the tableware on 8 dining table 1 of desktop cleaning mechanism is recycled；
(7) load-bearing signal is fed back to master control set 205 by gravity sensor 703, and 205 order pallet screw rod of master control set passes
Dynamic motor 705 is from most significant end with the increase of tableware recycling tableware weight, the highly automated decline in 7 chassis of recycling bins 2, until tableware
Recycling bins 7 are filled, it is therefore prevented that tableware issues collision sound and damage tableware in removal process；
(8) desktop cleaning mechanism 8 can spray cleaning solution from trend desktop on startup, promote in desktop cleaning mechanism 8
In the process can by dining table 1 tableware and swill push in recycling bins 7, be mounted on the clear of the lower section of desktop cleaning mechanism 8
Clean sponge strip 809 and desktop generate friction cleaning, go oil removing, stain, then by rubber flap 8010 that cleaning liquid and food is residual
Slag is scraped completely, and rubber flap 8010 is left water mark and thoroughly wiped clean by quick-drying cleaning device 8011；
(9) when the operation of desktop cleaning mechanism 8 to first mechanical arm rear end, the flexible driving electricity of master control set order left mechanical arm
Machine 50102, right mechanical arm telescopic drive motor 60102 withdraw left second mechanical arm 502, right second mechanical arm 602, meanwhile, lead to
Left and right cleaner driving motor 10 is crossed to continue that desktop cleaning mechanism 8 is driven to promote to 1 rear end recycling bins of dining table, 7 direction；
(10) when desktop cleaning mechanism 8 reaches 1 rear end of dining table, 205 order mechanical arm turnover device 12 of master control set is upwards
90 ° overturning, by first mechanical arm vertically upward, be placed in vertical lift column top above；
(11) the electronic overhead door driving motor 70402 of 205 order recycling bins of master control set 7 closes electronic overhead door 70401；
(12) master control set 205 is returned robot by 204 order chassis driving device 201 of motion control device automatically
Go back to kitchen.
Embodiment described above, only one kind of the utility model more preferably specific embodiment, the skill of this field
The usual variations and alternatives that art personnel carry out within the scope of technical solutions of the utility model should all be included in the guarantor of the utility model
It protects in range.
Claims (5)
1. a kind of robot that can recycle tableware automatically, including several dining tables, it is characterised in that:
It further include chassis, left vertical lift column, right vertical lift column, left telescopic mechanical arm, right telescopic mechanical arm, tableware time
Receive case, desktop cleaning mechanism, left cleaner driving motor, right cleaner driving motor and double-faced advertising display screen；In Zuo Chuizhi
Mechanical arm turnover device is respectively arranged on lifting column, right vertical lift column, the mechanical arm turnover device includes overturning
Joint gear deceleration device and overturning joint drive motor；
Chassis setting in robot bottom, chassis include 4 chassis driving devices, 4 omnidirectional driving wheels, 2 battery packs,
Motion control device and master control set；1 group of chassis driving wheel group is formed by 1 chassis driving device and 1 omnidirectional driving wheel, altogether
4 groups of chassis driving wheel components are located at 4 corners on chassis；2 battery packs set up 2 edge on chassis separately；The motion control dress
It sets and master control set and is located in the middle part of chassis；
The left vertical lift column is arranged on the left of chassis, and the right vertical lift column is arranged on the right side of chassis, Zuo Chuizhi
Lifting column and right vertical lift column are symmetrical arranged in chassis arranged on left and right sides；Side is provided with a left side in left vertical lift column
Sliding rail and left vertical lifting mechanism, side is provided with right sliding rail and right vertical lifting mechanism in right vertical lift column；
The left vertical lifting mechanism includes left screw driving motor, left screw, left slider A, and the left screw driving motor is set
It sets in left vertical lift column bottom, the left screw is arranged in left vertical lift column, in front of left sliding rail；The left slider
A is arranged in left screw, and the side left slider A is provided with screw hole, and left slider A is socketed by screw hole and left screw and is silk
Bar rotation connection；
On the outside of left slider A, it is disposed with fixed plate and overturning joint gear deceleration device, overturns joint gear deceleration device
Including rotation axis, the rotation axis is stretched out from fixed plate side, is rotatablely connected with left slider A, rotation axis and the fixed company of fixed plate
It connects, the fixed plate other side is fixedly connected with left telescopic mechanical arm rear end；Left slider A and overturning joint gear deceleration device are by turning
Moving axis connection, the setting overturning joint drive motor above overturning joint gear deceleration device；
The left telescopic mechanical arm includes left first mechanical arm and left second mechanical arm, and the left first mechanical arm is horizontally disposed；
The left first mechanical arm includes left mechanical arm shell, left mechanical arm telescopic drive motor, left sliding screw A, left slide bar A and a left side
Mechanical arm transmission joint；The left mechanical arm telescopic drive motor is arranged above left first mechanical arm rear end, the left side
Sliding screw A and left slide bar A is arranged in left first mechanical arm, and the left mechanical arm transmission joint setting is in left first machine
Tool arm rear end；
The right vertical lifting mechanism and left vertical lifting mechanism, structure is identical, left and right directions is opposite；Right vertical lifting mechanism packet
Right screw driving motor, right screw, right sliding block A are included, the right screw driving motor is arranged in right vertical lift column bottom, institute
Right screw is stated to be arranged in right vertical lift column, in front of right sliding rail；The left slider A is arranged in right screw, right sliding block A mono-
Side is provided with screw hole, and right sliding block A is socketed by screw hole and right screw and is screw rod rotation connection；
On the outside of right sliding block A, it is disposed with fixed plate and overturning joint gear deceleration device, overturns joint gear deceleration device
Including rotation axis, the rotation axis is stretched out from fixed plate side, is rotatablely connected with right sliding block A, rotation axis and the fixed company of fixed plate
It connects, the fixed plate other side is fixedly connected with right telescopic mechanical arm rear end；Right sliding block A and overturning joint gear deceleration device are by turning
Moving axis connection, the setting overturning joint drive motor above overturning joint gear deceleration device；
The right telescopic mechanical arm is identical as left telescopic mechanical arm structure, left and right directions is opposite；Right telescopic mechanical arm includes right the
One mechanical arm and right second mechanical arm, the right first mechanical arm are horizontally disposed；The right first mechanical arm includes right mechanical arm
Shell, right mechanical arm telescopic drive motor, right sliding screw A, right slide bar A and right mechanical arm transmission joint；The right machine
Tool arm telescopic drive motor is arranged above right first mechanical arm rear end, and the right sliding screw A and right slide bar A setting are right the
In one mechanical arm, the right mechanical arm transmission joint is arranged in right first mechanical arm rear end；
The left second mechanical arm includes left slide bar B, the left slider B and left sliding screw B of left slide construction, two sides, the left side
Slide construction is connect with left sliding screw A with screw rod transmission, and the left slide construction two sides are slidably matched with left slide bar A, described
Left sliding screw B front-rear direction is arranged among left second mechanical arm, and the left slider B is arranged on left sliding screw B and a left side
Sliding screw B is slidably matched；The left cleaner driving motor is arranged in left second mechanical arm front end；
Right mechanical arm telescopic drive motor can pass through right mechanical arm transmission joint and sliding screw A, the second machinery of the drive right side
Arm is elastic；The right second mechanical arm is identical as left second mechanical arm structure, left and right directions is opposite；Right second mechanical arm packet
Include right slide construction, the right slide bar B of two sides, right slide block B and right sliding screw B, the right slide construction and right sliding screw A with
Screw rod transmission connection, the right slide construction two sides are slidably matched with right slide bar A, the right sliding screw B front-rear direction setting
Among right second mechanical arm, the right slide block B setting is slidably matched on right sliding screw B, with right sliding screw B；It is described
Right cleaner driving motor is arranged in right second mechanical arm front end；
The desktop cleaning mechanism is arranged between left second mechanical arm and right second mechanical arm, and the desktop cleaning mechanism includes
Push plate, cleaning solution the storage box, left 180 ° of motor overturning devices, right 180 ° of motor overturning devices, left attachment device, right connection dress
It sets, cleaning solution jet pump, 5 cleaning solution spray heads, cleaning sponge item, rubber flap and quick-drying cleaning device；
The push plate is horizontally installed on desktop cleaning mechanism lower part, and the cleaning solution the storage box is arranged on desktop cleaning mechanism
Above portion, push plate；Left and right 180 ° of motor overturning devices are separately positioned on 2 end of push plate, are fixedly connected with push plate；Left connection
Device setting is between left 180 ° of motor overturning devices and left slider B, left attachment device side and left 180 ° of motor overturning devices
It is fixedly connected, the left attachment device other side couples with left slider B；Right attachment device setting is on right 180 ° of motor overturning devices and the right side
Between slide block B, right attachment device side is fixedly connected with right 180 ° of motor overturning devices, the right attachment device other side and right sliding block
B connection；The cleaning solution jet pump is arranged in push plate side；3-7 cleaning solution spray head is arranged below push plate front end；It is described clear
Clean sponge strip, rubber flap and quick-drying cleaning device are sequentially arranged front to back certainly in push plate bottom part down；
The tableware recovery box is arranged above chassis, between left vertical lift column and right vertical lift column；Tableware recycling
Case includes 2 pallet vertical screw rod lifting devices, tableware tray, gravity sensor and electric door device；2 pallet vertical screw rods
Lifting device is vertically set on both ends inside tableware recovery box, and each pallet vertical screw rod lifting device respectively includes 1 pallet silk
Bar driving motor and 1 pallet lift screw rod are provided with pallet lift screw rod sliding block, totally 2 pieces of supports on the pallet lift screw rod
Disk elevating screw sliding block；The tableware tray horizontal direction is fixed between 2 pieces of pallet lift screw rod sliding blocks；It is described heavy
Force snesor is fixedly mounted below tableware tray；The electric door device is arranged above tableware recovery box, electric door device
Including electronic overhead door and electronic overhead door driving motor, the electronic overhead door and tableware recovery box top side are rotatablely connected, described
Below electronic overhead door driving motor is arranged at electronic overhead door and tableware recovery box rotation connection；
The upper position between left vertical lift column and right vertical lift column is arranged in the double-faced advertising display screen.
2. a kind of robot that can recycle tableware automatically according to claim 1, it is characterised in that: 2 side of left screw
It is each provided with 1 guide post, 2 side of screw hole of left slider A is each provided with 1 guide pillar hole, and guide post is plugged in guide pillar hole；The right side
2 side of screw rod is each provided with 1 guide post, and 2 side of screw hole of right sliding block A is each provided with 1 guide pillar hole, and guide post is plugged in guide pillar hole
It is interior.
3. a kind of robot that can recycle tableware automatically according to claim 1, it is characterised in that: in left and right first machine
Fitting type rubber item is provided with below tool arm and left and right second mechanical arm；Left and right first mechanical arm and left and right second mechanical arm
Dining table both sides of the edge can be pushed down automatically, and fitting type rubber item can be pressed on dining table both sides of the edge.
4. a kind of robot that can recycle tableware automatically according to claim 1, it is characterised in that: further include central dispatching
Management system CDMS, the central dispatching management system CDMS are wirelessly communicated with master control set foundation, are realized to a left side
Screw drive motor, right screw driving motor, left overturning joint drive motor, right overturning joint drive motor, motion control dress
It sets, the driving of left mechanical arm telescopic drive motor, right mechanical arm telescopic drive motor, gravity sensor, electric door device, left screw
The control of motor, right screw driving motor, left cleaner driving motor, right cleaner driving motor；
The motion control device is used for the drive control of robot, and master control set is driven to motion control device and electronic overhead door
The control of dynamic motor, and 4 chassis driving devices on chassis can be instructed.
5. a kind of robot that can recycle tableware automatically according to claim 1, it is characterised in that: further include 2 safety
Anticollision device, collision-prevention device, guidance and positioning device, 2 safety collision-protection devices set up separately in 2 ends on chassis, and the guidance and positioning device are set
It sets in the middle part of chassis, between motion control device and master control set.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821135367.4U CN209160807U (en) | 2018-07-17 | 2018-07-17 | A kind of robot that can recycle tableware automatically |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821135367.4U CN209160807U (en) | 2018-07-17 | 2018-07-17 | A kind of robot that can recycle tableware automatically |
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| CN209160807U true CN209160807U (en) | 2019-07-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821135367.4U Expired - Fee Related CN209160807U (en) | 2018-07-17 | 2018-07-17 | A kind of robot that can recycle tableware automatically |
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| CN (1) | CN209160807U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108715336A (en) * | 2018-07-17 | 2018-10-30 | 严忠耀 | A kind of robot and its working method that can recycle tableware automatically |
| CN110638295A (en) * | 2019-09-03 | 2020-01-03 | 严钟耀 | Intelligent restaurant dish delivery and collection system |
| CN110638217A (en) * | 2019-09-03 | 2020-01-03 | 严钟耀 | Tableware recovery unit based on AGV |
| CN110638216A (en) * | 2019-09-03 | 2020-01-03 | 严钟耀 | Rail type dining table collecting and cleaning system |
| CN110638373A (en) * | 2019-09-03 | 2020-01-03 | 严钟耀 | Dining table top automatic collection cleaning robot for dining room |
| CN110693382A (en) * | 2019-11-20 | 2020-01-17 | 郭嘉辉 | Window cleaning robot capable of cleaning window frames with any shapes |
| CN110755005A (en) * | 2019-09-03 | 2020-02-07 | 严钟耀 | Dining table collection table cleaning device based on automatic equipment driving |
| CN112535349A (en) * | 2020-12-23 | 2021-03-23 | 南通大学 | Lifting device and lifting method for notebook computer |
| CN114831416A (en) * | 2022-04-18 | 2022-08-02 | 河南工程学院 | Design platform for dress designing |
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2018
- 2018-07-17 CN CN201821135367.4U patent/CN209160807U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108715336A (en) * | 2018-07-17 | 2018-10-30 | 严忠耀 | A kind of robot and its working method that can recycle tableware automatically |
| CN108715336B (en) * | 2018-07-17 | 2023-07-04 | 严忠耀 | Robot capable of automatically recycling tableware and working method thereof |
| CN110638295A (en) * | 2019-09-03 | 2020-01-03 | 严钟耀 | Intelligent restaurant dish delivery and collection system |
| CN110638217A (en) * | 2019-09-03 | 2020-01-03 | 严钟耀 | Tableware recovery unit based on AGV |
| CN110638216A (en) * | 2019-09-03 | 2020-01-03 | 严钟耀 | Rail type dining table collecting and cleaning system |
| CN110638373A (en) * | 2019-09-03 | 2020-01-03 | 严钟耀 | Dining table top automatic collection cleaning robot for dining room |
| CN110755005A (en) * | 2019-09-03 | 2020-02-07 | 严钟耀 | Dining table collection table cleaning device based on automatic equipment driving |
| CN110693382A (en) * | 2019-11-20 | 2020-01-17 | 郭嘉辉 | Window cleaning robot capable of cleaning window frames with any shapes |
| CN110693382B (en) * | 2019-11-20 | 2021-10-12 | 山东鹏耀智佳精密工业有限公司 | Window cleaning robot capable of cleaning window frames with any shapes |
| CN112535349A (en) * | 2020-12-23 | 2021-03-23 | 南通大学 | Lifting device and lifting method for notebook computer |
| CN114831416A (en) * | 2022-04-18 | 2022-08-02 | 河南工程学院 | Design platform for dress designing |
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| GR01 | Patent grant | ||
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| TR01 | Transfer of patent right |
Effective date of registration: 20201009 Address after: 201801 building 3, No. 300, Fengnian Road, Jiading District, Shanghai Patentee after: Shanghai Yongxing Technology Co., Ltd Address before: 315400 Yanyun, Gaoxin Square, 111 Xinxing Road, Haishu District, Ningbo City, Zhejiang Province Patentee before: Yan Zhongyao |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
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Granted publication date: 20190726 Termination date: 20210717 |