CN210930222U - Tableware recovery unit based on AGV - Google Patents
Tableware recovery unit based on AGV Download PDFInfo
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- CN210930222U CN210930222U CN201921452859.0U CN201921452859U CN210930222U CN 210930222 U CN210930222 U CN 210930222U CN 201921452859 U CN201921452859 U CN 201921452859U CN 210930222 U CN210930222 U CN 210930222U
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Abstract
The utility model relates to a tableware recovery unit based on AGV, include: an AGV trolley; the tableware collection box of setting on the AGV dolly: the automatic guided vehicle comprises a recovery box body arranged on an AGV trolley and a tableware turnover box arranged on the top of the recovery box body, wherein robot carrying rails are further arranged at two ends of the top of the recovery box body; the desktop collection robot: the automatic table top folding device comprises a movable support frame capable of moving on a robot carrying track and a dining table, a position adjusting mechanism arranged on the movable support frame, and a table top folding mechanism arranged on the position adjusting mechanism and capable of moving along with the position adjusting mechanism. Compared with the prior art, the utility model discloses can combine control system to realize that AGV dolly, tableware collection box and desktop receive the organic combination of platform robot, and then realize fixed point, the automatic clean recovery to the dining table desktop, simple structure, reasonable in design, degree of automation is high, is particularly suitable for intelligent dining room to use.
Description
Technical Field
The utility model belongs to the technical field of intelligence dining room tableware is retrieved, a tableware recovery unit based on AGV is related to.
Background
With the rapid development of social economy and the improvement of the living standard of people, the catering industry is more and more prosperous, but the competition of the prosperous industry is more fierce, particularly, the working environment of the society is continuously improved, the human resources of the catering industry are more and more tense, the characteristic of high mobility of people in the catering industry is difficult to overcome, the human cost is also increased year by year, the human cost occupies an important part of the cost of catering enterprises, and the deep human and management cost is difficult to estimate.
The intelligent restaurants such as the boxed horse fresh robot restaurant and the Jingdong future robot restaurant solve the links of intelligent dish ordering, robot meal delivery and the like, but manual solution is required to be arranged for receiving the table, cleaning the table top and recycling the tableware. This necessarily limits the spread of intelligent restaurants as labor costs increase.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a tableware recovery unit based on AGV in order to overcome the defects of the prior art.
The purpose of the utility model can be realized through the following technical scheme:
an AGV-based cutlery retrieval device comprising:
an AGV trolley;
the tableware collection box of setting on the AGV dolly: the automatic guided vehicle comprises a recovery box body arranged on an AGV trolley and a tableware turnover box arranged on the top of the recovery box body, wherein robot carrying rails are further arranged at two ends of the top of the recovery box body;
the desktop collection robot: the automatic table top folding device comprises a movable support frame capable of moving on a robot carrying track and a dining table, a position adjusting mechanism arranged on the movable support frame, and a table top folding mechanism arranged on the position adjusting mechanism and capable of moving along with the position adjusting mechanism.
Furthermore, the top of the recovery box body is provided with a sliding groove extending to one side, and the tableware turnover box is arranged in the sliding groove.
Furthermore, the bottom of the sliding groove is provided with a pulley block which is arranged in a rail type, and the tableware turnover box is arranged on the pulley block and can slide in or out of the sliding groove.
Furthermore, a locking piece which enables the position between the recycling box body and the tableware turnover box to be relatively fixed is arranged between the recycling box body and the tableware turnover box, so that the tableware turnover box is fixed between the recycling box body and the tableware turnover box through the locking piece when the tableware turnover box moves in place in the recycling box body. The lock piece can adopt the connection structure when dismantling, if the intermediate position in the spout bottom sets up the spring that can upwards stretch out from the spring bolt, is equipped with the auto-lock notch in the tableware turnover case bottom corresponds the position, when the tableware turnover case slides to the spout and corresponds the position, the spring can stretch into in the auto-lock notch from the spring bolt, withholds the tableware turnover case, avoids the tableware turnover case roll-off easily. The spring self-locking bolt and the self-locking notch are properly designed, so that the proper fastening force is ensured, and the taking-out of the tableware turnover box is not influenced.
Furthermore, the top of the recovery box body is provided with an upper enclosing baffle with an opening at one side, and the inner surfaces of the two sides of the upper enclosing baffle are also rotatably provided with a protective baffle which can turn over between a horizontal plane and a vertical plane. When the table is collected, the table top collection robot slides out to carry the rails to the dining table, the protective baffle is turned to the horizontal position, tableware and table top food residues on the table top are prevented from dropping in the table collection process, and when the table top robot returns to the carrying rails, the protective baffle is turned over by 90 degrees to the vertical position.
Furthermore, the tableware turnover box include open-top's turnover box to and set up at the inboard one deck of turnover box or along the vertical direction of turnover box in proper order staggered arrangement a plurality of layers of support plate at two relative medial surfaces, the one end of support plate is installed at the turnover box inboard through the axostylus axostyle rotation that has the torsion spring spare, the other end is unsettled. The arrangement mode of the supporting plate can gradually lower the recovered tableware into the turnover box body through a small fall, and reduces the collision noise and damage risk of the tableware.
Furthermore, the support supporting plate is further coated with a noise reduction cushion layer, and the noise reduction cushion layer can be made of rubber pads and other materials.
Furthermore, the two ends of the shaft rod are also provided with spring telescopic pins, the supporting support plate can be detached from the turnover box body by pressing the spring telescopic pins, and the supporting support plate is very convenient to disassemble and assemble.
Furthermore, the support supporting plate is distributed with hollow holes with the size not larger than that of the recovered tableware.
Furthermore, a structure for limiting the rotation stroke of the supporting plate is further arranged between the supporting plate and the tableware turnover box, the structure can be in an arrangement form such as a stroke groove or a stroke limiting plate, and the torsion spring piece can be used for supporting the supporting plate to a position parallel to the surface of the dining table when the supporting plate does not bear heavy objects, at the moment, the torsion spring piece still applies a certain upward jacking acting force to the supporting plate, the size of the acting force is designed according to needs, and the requirement that when a certain amount of recovered tableware is conveyed to the supporting plate can be met, the returned tableware can be pressed to be turned downwards to be in an inclined state.
Furthermore, when the supporting plate is provided with a plurality of layers, the following requirements are met between two adjacent layers of supporting plates: the projection of the upper layer supporting plate in the vertical direction ensures that part of the upper layer supporting plate is always positioned on the lower layer supporting plate. Here, the free end of the support pallet keeps a certain clearance from the side of the tableware turnover box, so that the recovered tableware can slide down to the lower support pallet or the bottom surface inside the tableware recovery box along the downward pressed inclined support pallet. By the arrangement, the recovered tableware can be further ensured to fall to the bottom of the box body layer by layer.
Further, still be equipped with on carrying on the track and receive a platform robot with the desktop and match and to its module and the interface that charges, when the desktop receives a platform robot and removes to carrying on the track on the station that does not work, the desktop receives a platform robot promptly with the interface matching butt joint that charges to realize receiving a platform robot's the charging to the desktop.
Furthermore, the movable support frame can adopt frame support structures such as a gantry frame and the like; the position adjusting mechanism can be a vertical lifting mechanism, and can also be a multi-degree-of-freedom mechanism such as a mechanical arm.
Furthermore, the carrying track is arranged to be matched and butted with a table top track on a dining table for the table top platform collecting robot to walk, so that the switching of the table top platform collecting robot between the dining table and the carrying track is conveniently realized.
Further, the table top collecting mechanism comprises a body frame fixedly connected with the position adjusting mechanism, and a push plate, a front scraper, a cleaning solution spraying assembly, a wiping assembly, an auxiliary scraper and a dry wiping assembly which are sequentially arranged on the body frame along the horizontal direction. The push plate is arranged to push the tableware on the dining table to the tableware recycling box when the dining table is taken back. The front scraper is used for scraping food residues and soup on the dining table when the whole device runs, and preliminarily cleaning the table top, so that the situation that the small food residues similar to fishbone on the table top pollute a cleaning part behind the table top and influence the cleaning work behind the table top is prevented.
Furthermore, the wiping component comprises a reciprocating unit arranged at the bottom of the body frame and a movable plate connected with the reciprocating unit, and a wiping cleaning piece used for wiping the table top of the dining table is arranged on the lower surface of the movable plate. The wiping cleaning piece can be made of thick scouring pad, sponge and other materials, and can be connected with the reciprocating moving assembly through a magic tape and other fixed connection modes.
Preferably, the reciprocating unit comprises a reciprocating driving member fixedly mounted on the body frame, a connecting rod connected with the reciprocating driving member in a transmission manner and capable of rotating in a horizontal plane, and at least one inner cam fixedly mounted on the connecting rod, the inner cam is composed of a circular body sleeved on the connecting rod and an annular groove arranged on the end face of the circular body and surrounding the center of the circle, the annular groove is not concentric with the circular body, a transverse sliding plate capable of sliding in the horizontal direction is further arranged on the body frame along a direction perpendicular to the connecting rod, a shaft rod which is as high as the connecting rod and is arranged in the annular groove extends from the transverse sliding plate, and the transverse sliding plate is fixedly connected with the movable plate.
Furthermore, the cleaning solution spraying assembly comprises a cleaning solution storage box arranged on the body frame, and a nozzle which is arranged between the front scraping plate and the wiping assembly and is connected with the liquid outlet of the cleaning solution storage box through a cleaning solution spraying pipeline (a cleaning solution hose with a spraying pressurizing piece can be particularly adopted).
Further, the dry wiping component can be composed of a dry wiping bottom plate arranged at the bottom of the base of the body and a dry wiping cleaning piece fixed on the dry wiping bottom plate. The dry wiping cleaning piece can be made of fiber cloth with good water absorption performance and the like, and can be fixed on the bottom plate by adopting a magic tape and other modes.
Furthermore, the vertical lifting mechanism (i.e. the position adjusting mechanism) comprises a lifting screw rod vertically and rotatably arranged at two sides of the gantry frame, a screw rod sliding block sleeved on the lifting screw rod, and a screw rod driving piece driving the lifting screw rod to rotate, wherein the screw rod sliding block is fixedly connected with the desktop platform collecting mechanism.
Furthermore, the screw rod driving piece comprises a lifting driving motor vertically installed at the top of the gantry frame and a connecting shaft horizontally arranged on the gantry frame, and two ends of the connecting shaft are respectively meshed with the top end of the lifting screw rod through an output shaft of the lifting driving motor and a bevel gear, so that the transmission connection between the lifting driving motor and the lifting screw rod is realized. Further preferably, the two connecting shafts respectively connecting the lifting screw rods at the two sides share one lifting driving motor.
Compared with the prior art, the utility model discloses can combine control system to realize that AGV dolly, tableware collection box and desktop receive the organic combination of platform robot, and then realize fixed point, the automatic clean recovery to the dining table desktop, simple structure, reasonable in design, degree of automation is high, is particularly suitable for intelligent dining room to use.
Drawings
FIG. 1 is a front view of the tableware retrieving apparatus of the present invention;
FIG. 2 is a schematic view of the rear view of the tableware retrieving apparatus of the present invention;
FIG. 3 is a schematic view of the tableware retrieving apparatus with the table top pick-up robot removed and the protective guard lowered;
FIG. 4 is a schematic view of the tableware retrieving apparatus with the table top pick-up robot removed and the guard board folded up;
FIG. 5 is a schematic view of the tableware transfer box after sliding out;
FIG. 6 is a schematic view of a cutlery tote;
FIG. 7 is a schematic view of a support pallet;
FIG. 8 is a schematic structural diagram of a desktop pick-up robot;
FIG. 9 is a front view of the lifting driving motor part of the desktop pick-up robot;
FIG. 10 is a schematic view of a table top pick-up mechanism;
FIG. 11 is a schematic view of a portion of the wipe assembly;
fig. 12 is a schematic cross-sectional view a-a of the portion of the wipe assembly of fig. 11;
FIG. 13 is a schematic view of the tableware retrieving apparatus in preparation for operation;
FIG. 14 is a schematic view of the beginning of the operation of the cutlery retrieving device;
the notation in the figure is:
1-AGV dolly;
2-tableware recovery box, 21-recovery box, 22-tableware turnover box, 221-turnover box, 222-supporting pallet, 223-torsion spring piece, 224-hollowed-out hole, 225-shaft rod, 23-protective baffle, 24-carrying track, 25-upper enclosure, 26-pulley block, 27-locking piece;
3-table top platform collecting robot, 31-gantry frame, 311-platform cleaning baffle, 32-vertical lifting mechanism, 321-lifting screw rod, 322-screw rod slide block, 323-lifting driving motor, 324-connecting shaft, 325-bevel gear, 326-guide rod, 33-table top platform collecting mechanism, 331-body frame, 332-push plate, 333-prepositive scraper, 334-wiping component, 3341-reciprocating driving component, 3342-connecting rod, 3343-inner cam, 3344-sliding plate fixing seat, 3345-transverse sliding plate, 3346-connecting sliding rod, 3347-movable plate, 3348-wiping cleaning component, 335-auxiliary scraper, 336-dry wiping component, 3361-dry wiping bottom plate, 3362-dry wiping cleaning component and 337-cleaning liquid spraying component, 3371-cleaning liquid storage tank, 3372-cleaning liquid hose, 3373-spraying pressurizing member, 3374-nozzle, 3375-liquid adding port.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. The embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
The utility model provides a tableware recovery unit based on AGV, please refer to fig. 1-4, fig. 13 and fig. 14 and show, include:
an AGV trolley 1;
the desktop reception robot 3: comprises a movable support frame which can move on the robot carrying track 24 and the dining table, a position adjusting mechanism which is arranged on the movable support frame, and a table top receiving mechanism 33 which is arranged on the position adjusting mechanism and can move along with the position adjusting mechanism.
In a specific embodiment of the present invention, please refer to fig. 5, a sliding groove extending to one side is disposed at the top of the recycling box 21, and the tableware turnover box 22 is disposed in the sliding groove.
In a more specific embodiment, please refer to fig. 5 again, the bottom of the chute is provided with a pulley block 26 arranged in a rail manner, and the tableware turnover box 22 is placed on the pulley block 26 and slides in or out of the chute.
In a more specific embodiment, please refer to fig. 5 again, a locking member 27 for fixing the position between the recycling box 21 and the tableware turnover box 22 is further disposed between the recycling box 21 and the tableware turnover box 22, so that the tableware turnover box 22 is fixed between the recycling box 21 and the tableware turnover box 22 by the locking member 27 when the two are moved to the right position in the recycling box. The locking piece 27 can adopt a connection structure when being detachable, if a spring self-locking tongue capable of upwards extending is arranged in the middle of the bottom of the sliding groove, a self-locking notch is arranged at the corresponding position of the bottom of the tableware turnover box 22, when the tableware turnover box 22 slides to the corresponding position of the sliding groove, the spring can extend into the self-locking notch from the spring tongue to buckle the tableware turnover box 22, and the tableware turnover box 22 is prevented from easily sliding out. Here, the spring self-locking tongue and the self-locking notch are properly sized to ensure a moderate fastening force without affecting the removal of the cutlery container 22.
In a specific embodiment of the present invention, please refer to fig. 1-4 again, the top of the recycling bin 21 is provided with an upper enclosure 25 with an opening at one side, and the inner surfaces of the two sides of the upper enclosure 25 are further rotatably provided with a protective baffle 23 capable of being turned between the horizontal plane and the vertical plane. When the table is collected, the table top collection robot 3 slides out of the carrying rail 24 to the dining table, the protective baffle 23 is turned to the horizontal position, tableware and table top food residues on the table top are prevented from dropping in the table collection process, and when the table top robot returns to carry on the rail 24, the protective baffle 23 is turned upwards by 90 degrees and is turned to the vertical position.
In a specific embodiment of the present invention, please refer to fig. 6-7, the tableware turnover box 22 includes a turnover box 221 with an open top, and a plurality of layers of supporting plates 222 disposed on the inner side of the turnover box 221 or staggered on two opposite inner sides along the vertical direction of the turnover box 221, one end of the supporting plates 222 is rotatably mounted on the inner side of the turnover box 221 through a shaft rod 225 having a torsion spring 223, and the other end is suspended.
In a more specific embodiment, please refer to fig. 6-7, the support plate 222 is further covered with a noise reduction cushion layer, which may be a rubber cushion or other material layer.
In a more specific embodiment, referring to fig. 7 again, the two ends of the shaft 225 are further provided with spring retractable pins to facilitate the detachment of the support plate 222.
In a more specific embodiment, referring again to fig. 6-7, the support plate 222 is provided with holes 224 that are not larger than the size of the recovered dishes.
In a more specific embodiment, a structure for limiting the rotation stroke of the supporting plate 222 is further disposed between the supporting plate 222 and the tableware circulation box 22, which may be in the form of a stroke slot or a stroke limiting plate, and when the supporting plate 222 does not bear a heavy object, the torsion spring 223 supports the supporting plate 222 to a position parallel to the surface of the dining table, and at this time, the torsion spring 223 still exerts a certain upward supporting force on the supporting plate 222, and the magnitude of the acting force is designed as required, so that when a certain amount of recovered tableware is delivered to the supporting plate 222, the supporting plate can be forced to be turned downwards to an inclined state.
In a more specific embodiment, when the support plate 222 is provided with a plurality of layers, the following conditions are satisfied between two adjacent layers of support plates 222: the vertical projection of the upper support pallet 222 ensures that there is always a portion on the lower support pallet 222. Here, the free end of the support plate 222 is spaced apart from the side of the dish turnover box 22 by a certain distance, so that the collected dishes can slide down along the downwardly pressed inclined support plate 222 to the lower support plate 222 or the inner bottom surface of the dish collection box 2.
The utility model discloses an in a specific embodiment, please see fig. 3 and fig. 4 and show, still be equipped with on carrying track 24 can receive platform robot 3 with the desktop and match and to its module of charging and the interface that charges, when the desktop receives platform robot 3 and moves to the no workstation on carrying track 24, the desktop receive platform robot 3 with the interface matching butt joint that charges promptly to realize receiving platform robot 3's the charging to the desktop.
In a specific embodiment of the present invention, the movable supporting frame may adopt a frame supporting structure such as a gantry frame 31; the position adjusting mechanism may be the vertical lifting mechanism 32, or may be a multi-degree-of-freedom mechanism such as a robot arm. The bottom of the two sides of the movable support frame is also provided with a moving mechanism which can move back and forth on the table top (the moving mechanism can be matched with the edge of the table and can move back and forth along the edge of the table and the carrying track). The moving mechanism may include important components such as a driving wheel component and a guide wheel component. Still be equipped with the desktop position detection sensor (like displacement sensor, infrared ray positioning sensor etc.) that is used for detecting its position status on the dining table desktop on removing the support frame, feed back the walking position of whole removal support frame on the desktop through desktop position detection sensor in real time, and then with control panel (have PLC system etc.) feedback control moving mechanism, ensure that the whole stroke of removing the support frame on the desktop covers whole dining table completely.
The utility model discloses a in a specific embodiment, carry on track 24 and set up to match the butt joint with the desktop track that supplies desktop to receive platform robot 3 walking on the dining table, like this, conveniently realize that the switching of desktop receiving platform robot 3 between dining table and carry on track 24.
In a specific embodiment of the present invention, please refer to fig. 8-10, the table top collecting mechanism 33 includes a body frame 331 fixedly connected to the position adjusting mechanism (i.e. the vertical lifting mechanism 32), and a push plate 332, a front scraper 333, a cleaning solution spraying component 337, a wiping component 334, an auxiliary scraper 335 and a dry wiping component 336 sequentially arranged on the body frame 331 along the horizontal direction. The push plate 332 is provided to primarily push the dishes on the table toward the dish retrieving case 2 when the table is retracted. The front scraper 333 scrapes off food residues and soup on the table when the whole device is running, and primarily cleans the table top, so as to prevent the tiny food residues on the table top, such as fishbone, from polluting the rear cleaning part and influencing the rear cleaning work.
In a more specific embodiment, referring to fig. 11 and 12, the wiping assembly 334 includes a reciprocating unit disposed at the bottom of the body frame 331, and a movable plate 3347 connected to the reciprocating unit, and a wiping cleaning member 3348 for wiping the table top is disposed on a lower surface of the movable plate 3347. The wiping cleaning piece 3348 may be made of thick scouring pad, sponge, etc., and may be connected to the reciprocating assembly by means of a fastening connection such as a hook and loop fastener.
In a more specific embodiment, referring to fig. 11 and 12 again, the reciprocating unit includes a reciprocating driving member 3341 fixedly mounted on the body frame 331, a connecting rod 3342 drivingly connected to the reciprocating driving member 3341 and rotatable in a horizontal plane, and at least one inner cam 3343 fixedly mounted on the connecting rod 3342, where the inner cam 3343 is composed of a circular body sleeved on the connecting rod 3342 and an annular groove disposed on an end surface of the circular body and surrounding a center of the circular body, the annular groove is not concentric with the circular body, a transverse sliding plate 3345 slidable in a horizontal direction is further disposed on the body frame 331 along a direction perpendicular to the connecting rod 3342, a shaft 225 extending from the transverse sliding plate 3345 and having the same height as the connecting rod 3342 and disposed in the annular groove, and the transverse sliding plate 3345 is fixedly connected to the movable plate 3347. More preferably, the body frame 331 is mounted with a sliding plate fixing seat 3344, a horizontal sliding groove perpendicular to the connecting rod is formed in the sliding plate fixing seat 3344, the transverse sliding plate 3345 is slidably disposed in the horizontal sliding groove and can move back and forth along the horizontal sliding groove, a connecting sliding rod 3346 fixedly connected with the transverse sliding plate 3345 and can move along the transverse sliding plate 3345 further extends from the lower side of the sliding plate fixing seat 3344, and the bottom end of the connecting sliding rod 3346 is fixedly connected with the movable plate 3347.
In a more specific embodiment, referring to fig. 11 and 12 again, the cleaning liquid spraying assembly 337 includes a cleaning liquid storage box 3371 mounted on the body frame 331, and a nozzle 3374 disposed between the front squeegee 333 and the wiping assembly 334 and connected to a liquid outlet of the cleaning liquid storage box 3371 through a cleaning liquid spraying line (specifically, a cleaning liquid hose 3372 with a spraying pressure member 3373 may be used).
In a more specific embodiment, and referring again to fig. 11 and 12, the dry erase assembly 336 can include a dry erase board 3361 mounted to the bottom of the base of the body and a dry erase cleaning element 3362 secured to the dry erase board 3361. The dry cleaning member 3362 may be made of fiber cloth having good water absorption property, and may be fixed on the base plate by using a hook and loop fastener.
In a more specific embodiment, please refer to fig. 9 again, the vertical lifting mechanism 32 (i.e. the position adjusting mechanism) includes a lifting screw rod 321 vertically and rotatably disposed at two sides of the gantry frame 31, a screw rod slider 322 sleeved on the lifting screw rod 321, and a screw rod driving member for driving the lifting screw rod 321 to rotate, and the screw rod slider 322 is fixedly connected to the table top retracting mechanism 33.
In a more specific embodiment, please refer to fig. 9 again, the screw rod driving member includes a lifting driving motor 323 vertically installed on the top of the gantry frame 31, and a connecting shaft 324 horizontally installed on the gantry frame 31, and two ends of the connecting shaft 324 are respectively engaged with the top end of the lifting screw rod 321 through an output shaft of the lifting driving motor 323 and a bevel gear 325, so as to realize the transmission connection between the lifting driving motor 323 and the lifting screw rod 321. Further preferably, the two connecting shafts 324 respectively connecting the lifting screws 321 at both sides share one lifting driving motor 323. In addition, the side of the gantry frame 31 is further provided with a guide rod 326 penetrating through the screw rod slide block 322 and having the same direction as the lifting screw rod 321 so as to position the guide screw rod slide block.
To facilitate the removal of the recovered dishes from the dish turnover box 22, the bottom or side of the dish turnover box 22 may be provided in the form of an openable flip door.
The above embodiments can be independently established at will, and also can be combined between any two or more, which all belong to the technical scheme to be protected by the present invention.
In the above embodiments, unless otherwise specified, all the components and means that are commonly used in the art to achieve the above-described functions are not limited to the specific ones.
The above embodiments will be described in more detail with reference to more specific examples.
Example 1:
the present embodiment provides an AGV-based tableware retrieving apparatus, as shown in fig. 1 to 4, 13 and 14, including:
an AGV trolley 1;
the desktop reception robot 3: comprises a movable support frame which can move on the robot carrying track 24 and the dining table, a position adjusting mechanism which is arranged on the movable support frame, and a table top receiving mechanism 33 which is arranged on the position adjusting mechanism and can move along with the position adjusting mechanism.
Referring to fig. 5, a sliding groove extending to one side is formed at the top of the recycling box 21, and the tableware transporting box 22 is disposed in the sliding groove.
Referring to fig. 5 again, the bottom of the chute is provided with a pulley block 26 arranged in a rail manner, and the tableware turnover box 22 is placed on the pulley block 26 and slides in or out of the chute.
Referring to fig. 5 again, a locking member 27 is disposed between the recycling box 21 and the tableware turnover box 22 for fixing the position of the recycling box 21 and the tableware turnover box 22, so that the tableware turnover box 22 is fixed by the locking member 27 when the recycling box 21 is moved to a proper position. The locking piece 27 can adopt a connection structure when being detachable, if a spring self-locking tongue capable of upwards extending is arranged in the middle of the bottom of the sliding groove, a self-locking notch is arranged at the corresponding position of the bottom of the tableware turnover box 22, when the tableware turnover box 22 slides to the corresponding position of the sliding groove, the spring can extend into the self-locking notch from the spring tongue to buckle the tableware turnover box 22, and the tableware turnover box 22 is prevented from easily sliding out. Here, the spring self-locking tongue and the self-locking notch are properly sized to ensure a moderate fastening force without affecting the removal of the cutlery container 22.
Referring to fig. 1 to 4 again, the top of the recycling bin 21 is provided with an upper enclosure 25 with an opening at one side, and the inner surfaces of the two sides of the upper enclosure 25 are further rotatably provided with a protective enclosure 23 capable of being turned between a horizontal plane and a vertical plane. When the table is collected, the table top collection robot 3 slides out of the carrying rail 24 to the dining table, the protective baffle 23 is turned to the horizontal position, tableware and table top food residues on the table top are prevented from dropping in the table collection process, and when the table top robot returns to carry on the rail 24, the protective baffle 23 is turned upwards by 90 degrees and is turned to the vertical position.
Referring to fig. 6-7, the tableware turnover box 22 includes a turnover box 221 with an open top, and a plurality of layers of support plates 222 disposed on the inner side of the turnover box 221 or staggered on two opposite inner sides in sequence along the vertical direction of the turnover box 221, wherein one end of the support plate 222 is rotatably mounted on the inner side of the turnover box 221 through a shaft 225 with a torsion spring 223, and the other end is suspended.
Referring to fig. 6-7, the support plate 222 is further covered with a noise reduction cushion layer, which may be made of rubber or other materials.
Referring to fig. 7 again, the two ends of the shaft 225 are further provided with spring retractable pins to facilitate the detachment of the support plate 222.
Referring to fig. 6-7, the support plate 222 is provided with holes 224 with a size not larger than that of the recovered tableware.
A structure for limiting the rotation stroke of the supporting plate 222 is further arranged between the supporting plate 222 and the tableware circulation box 22, and the structure can be in an arrangement form such as a stroke groove or a stroke limiting plate, and when the supporting plate 222 does not bear heavy objects, the torsion spring 223 supports the supporting plate 222 to be parallel to the surface of the dining table, at the moment, the torsion spring 223 still exerts a certain upward jacking acting force on the supporting plate 222, the acting force is designed as required, and when a certain amount of recovered tableware is conveyed to the supporting plate 222, the supporting plate can be pressed to be turned downwards to an inclined state.
When the supporting pallet 222 is provided with a plurality of layers, the following requirements are met between two adjacent layers of supporting pallets 222: the vertical projection of the upper support pallet 222 ensures that there is always a portion on the lower support pallet 222. Here, the free end of the support plate 222 is spaced apart from the side of the dish turnover box 22 by a certain distance, so that the collected dishes can slide down along the downwardly pressed inclined support plate 222 to the lower support plate 222 or the inner bottom surface of the dish collection box 2.
As shown in fig. 3 and 4, the carrying rail 24 is further provided with a charging module and a charging interface, which can be matched with the desktop receiving robot 3 and charge the desktop receiving robot, when the desktop receiving robot 3 moves to a non-working station on the carrying rail 24, the desktop receiving robot 3 is in matched butt joint with the charging interface, and the desktop receiving robot 3 is charged.
The movable support frame can adopt frame support structures such as a gantry frame 31 and the like; the position adjusting mechanism may be the vertical lifting mechanism 32, or may be a multi-degree-of-freedom mechanism such as a robot arm. And along the platform collecting direction, platform cleaning baffles 311 are arranged at two sides of the front end of the gantry frame 31 so as to prevent tableware and the like on the desktop from separating from the desktop.
The carrying rails 24 are arranged to be matched and butted with the table top rails (which can be replaced by table edges, at the moment, the table edges are designed to be matched with the table top receiving robot 3) on the table top for the table top receiving robot 3 to walk, so that the table top receiving robot 3 can be conveniently switched between the table top and the carrying rails 24.
Referring to fig. 8-10, the desktop retracting mechanism 33 includes a main body frame 331 fixedly connected to the position adjusting mechanism (i.e., the vertical lifting mechanism 32), and a pushing plate 332, a front scraper 333, a cleaning solution spraying component 337, a wiping component 334, an auxiliary scraper 335, and a dry wiping component 336 sequentially disposed on the main body frame 331 along the horizontal direction. The push plate 332 is provided to primarily push the dishes on the table toward the dish retrieving case 2 when the table is retracted. The front scraper 333 scrapes off food residues and soup on the table when the whole device is running, and primarily cleans the table top, so as to prevent the tiny food residues on the table top, such as fishbone, from polluting the rear cleaning part and influencing the rear cleaning work.
Referring to fig. 11 and 12, the wiping unit 334 includes a reciprocating unit disposed at the bottom of the body frame 331, and a movable plate 3347 connected to the reciprocating unit, and a wiping cleaner 3348 for wiping the table top is disposed on a lower surface of the movable plate 3347. The wiping cleaning piece 3348 may be made of thick scouring pad, sponge, etc., and may be connected to the reciprocating assembly by means of a fastening connection such as a hook and loop fastener.
Referring to fig. 11 and 12, the reciprocating unit includes a reciprocating driving member 3341 fixedly installed on the body frame 331, a connecting rod 3342 drivingly connected to the reciprocating driving member 3341 and rotatable in a horizontal plane, and at least one inner cam 3343 fixedly installed on the connecting rod 3342, where the inner cam 3343 is composed of a circular body sleeved on the connecting rod 3342 and an annular groove disposed on an end surface of the circular body and surrounding a center of the circular body, the annular groove is not concentric with the circular body, a transverse sliding plate 3345 slidable in a horizontal direction is further disposed on the body frame 331 along a direction perpendicular to the connecting rod 3342, a shaft rod 225 having the same height as the connecting rod 3342 and disposed in the annular groove extends from the transverse sliding plate 3345, and the transverse sliding plate 3345 is fixedly connected to the movable plate 3347.
Referring to fig. 11 and 12, the cleaning liquid spraying assembly 337 includes a cleaning liquid storage box 3371 mounted on the body frame 331, and a nozzle 3374 disposed between the front squeegee 333 and the wiping assembly 334 and connected to an outlet of the cleaning liquid storage box 3371 through a cleaning liquid spraying line (specifically, a cleaning liquid hose 3372 having a spraying pressure member 3373 may be used).
Referring again to fig. 11 and 12, the dry erase assembly 336 can include a dry erase plate 3361 mounted to the bottom of the body base and a dry erase cleaning element 3362 secured to the dry erase plate 3361. The dry cleaning member 3362 may be made of fiber cloth having good water absorption property, and may be fixed on the base plate by using a hook and loop fastener.
Referring to fig. 9 again, the vertical lifting mechanism 32 (i.e. the position adjusting mechanism) includes a lifting screw rod 321 vertically and rotatably disposed at two sides of the gantry frame 31, a screw rod slider 322 sleeved on the lifting screw rod 321, and a screw rod driving member for driving the lifting screw rod 321 to rotate, and the screw rod slider 322 is fixedly connected to the table top retracting mechanism 33.
Referring to fig. 9 again, the screw rod driving member includes a lifting driving motor 323 vertically installed on the top of the gantry frame 31, and a connecting shaft 324 horizontally installed on the gantry frame 31, and two ends of the connecting shaft 324 are respectively engaged with the top end of the lifting screw rod 321 through an output shaft of the lifting driving motor 323 and a bevel gear 325, so as to realize transmission connection between the lifting driving motor 323 and the lifting screw rod 321. Further preferably, two connecting shafts 324 respectively connecting the lifting screws 321 at both sides share one lifting driving motor 323.
The tableware collecting device in the above embodiment can be automatically operated under the control of a control unit (which may be a control board with a PLC system, etc.), and the operation process performed by the tableware collecting device is as follows:
(1) the tableware recovery device receives a task instruction, and runs to a target dining table according to a route, the AGV trolley 1 can independently navigate to perform straight line running and transverse running, can turn on site, and runs to the target dining table in a flexible running mode. The tableware recovery device is accurately positioned after moving to a target dining table, the carrying rails 24 are butted with the table top, the table top collecting robot 3 is started, enters the dining table through the carrying rails 24, the protective baffle 23 is started to enable the table top to overturn 90 degrees to a horizontal position, and the protective baffle 23 is blocked at two sides of the table top of the dining table.
(2) The desktop collection robot 3 walks to the end A of the dining table and stops, so that the push plate 332 of the desktop collection cleaning mechanism is arranged at the initial position of the end edge of the dining table A;
(3) the vertical lifting mechanism 32 acts to lower the table top collecting and cleaning mechanism to the table top and tightly attach the table top;
(4) the table top collecting robot 3 runs reversely to walk to the end B of the dining table, meanwhile, the cleaning solution spraying assembly 337 is started to spray atomized cleaning solution to the table top at a fixed frequency, and the table top collecting cleaning mechanism is pushed forwards along with the running of the movable support frame to push the tableware and the food residues into the tableware turnover box 22 at the end A of the dining table;
(5) the tableware is recovered to the supporting plate 222 of the tableware turnover box 22, and along with the addition of two recovered tableware, the supporting plate 222 can overcome the lifting force of the torsion spring 223 and rotate downwards to an inclined state under the action of the weight of the recovered tableware, so that the tableware is gradually fallen down tightly attached to the supporting plate 222 below or the inner side of the tableware turnover box 22, and in the process, overlarge fall expansion among the tableware cannot be generated, unpleasant tableware collision sound cannot be generated, and the damage of the tableware is also protected;
(6) the table top collecting robot 3 walks to the end B of the dining table and stops, food residues on the dining table are pushed into the tableware turnover box 22 completely, and meanwhile, the table top is cleaned completely;
(7) each part of the desktop table-folding robot 3 returns to the initial position, meanwhile, returns to the carrying track 24, and the protective baffle 2390 degrees turns over and resets to the vertical state;
(8) after the desktop receiving robot 3 enters the carrying rail 24 to a preset position and the charging port of the desktop receiving robot is in butt joint with the charging port on the tableware recycling bin 2, the desktop receiving robot 3 can supplement power;
(9) the AGV trolley 1 is started to return to a kitchen tableware recovery station or continuously runs towards a second target dining table to carry out a tableware recovery task of the next target;
(10) when the AGV table cleaning and tableware collection robot reaches the kitchen tableware collection area and replaces the new tableware turnover box 22, the AGV table cleaning and tableware collection robot waits for the next tableware collection instruction in the kitchen waiting area.
The embodiments described above are intended to facilitate the understanding and use of the invention by those skilled in the art. It will be readily apparent to those skilled in the art that various modifications to these embodiments may be made, and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present invention is not limited to the above embodiments, and those skilled in the art should make improvements and modifications within the scope of the present invention according to the disclosure of the present invention.
Claims (10)
1. An AGV based cutlery recycling apparatus, comprising:
an AGV trolley;
the tableware collection box of setting on the AGV dolly: the automatic guided vehicle comprises a recovery box body arranged on an AGV trolley and a tableware turnover box arranged on the top of the recovery box body, wherein robot carrying rails are further arranged at two ends of the top of the recovery box body;
the desktop collection robot: the automatic table top folding device comprises a movable support frame capable of moving on a robot carrying track and a dining table, a position adjusting mechanism arranged on the movable support frame, and a table top folding mechanism arranged on the position adjusting mechanism and capable of moving along with the position adjusting mechanism.
2. The AGV tableware recovery apparatus according to claim 1, wherein a chute is formed at a top of the recovery box and extends to one side, and the tableware turnover box is disposed in the chute.
3. The AGV tableware collecting device according to claim 1, wherein said collecting box has an upper enclosure with an opening at one side, and a protective barrier is rotatably installed on the inner surface of the upper enclosure at both sides to be capable of turning between a horizontal plane and a vertical plane.
4. The AGV tableware recycling device according to claim 1, wherein the tableware turnover box comprises a turnover box body with an open top, and a layer of supporting plates arranged inside the turnover box body or a plurality of layers of supporting plates arranged on two opposite inner side surfaces in a staggered manner along a vertical direction of the turnover box body, one end of each supporting plate is rotatably arranged inside the turnover box body through a shaft rod with a torsion spring, and the other end of each supporting plate is suspended.
5. An AGV based cutlery item retrieval apparatus according to claim 4, wherein the support tray is further coated with a sound dampening cushioning layer.
6. The AGV based cutlery recycling device of claim 4, wherein the support pallet has holes distributed therein with a size not larger than the size of the retrieved cutlery, and when the support pallet is not loaded with a heavy object, the torsion spring member holds the support pallet to a position parallel to the surface of the table.
7. An AGV based cutlery retrieval apparatus according to claim 4, wherein when the support pallet has a plurality of layers, the relationship between adjacent layers of support pallets is such that: the projection of the upper layer supporting plate in the vertical direction ensures that part of the upper layer supporting plate is always positioned on the lower layer supporting plate.
8. The AGV based tableware recovery apparatus according to claim 1, wherein said table top retracting mechanism comprises a body frame fixedly connected to the position adjusting mechanism, and a pushing plate, a front scraping plate, a cleaning solution spraying assembly, a wiping assembly, an auxiliary scraping plate and a dry wiping assembly sequentially arranged on the body frame along a horizontal direction.
9. The AGV based tableware recovery apparatus according to claim 8, wherein said wiping assembly comprises a reciprocating unit disposed at the bottom of the rack of the body and a movable plate connected to said reciprocating unit, and a wiping cleaning member for wiping the table top is disposed on the lower surface of the movable plate;
the cleaning solution sprays the subassembly including installing the cleaning solution storage box in the body frame to and arrange leading scraper blade in and wipe between the subassembly and spray the tube coupling through the cleaning solution the nozzle of cleaning solution storage box liquid outlet.
10. The AGV tableware recovery apparatus according to claim 9, wherein the reciprocating unit includes a reciprocating driving member fixedly mounted on the frame of the body, a connecting rod drivingly connected to the reciprocating driving member and rotatable in a horizontal plane, and at least one inner cam fixedly mounted on the connecting rod, the inner cam is composed of a circular body sleeved on the connecting rod and an annular groove disposed on an end surface of the circular body and surrounding a center of the circular body, the annular groove is not concentric with the circular body, a transverse sliding plate slidable in a horizontal direction is further disposed on the frame of the body in a direction perpendicular to the connecting rod, a shaft rod having a same height as the connecting rod and disposed in the annular groove is further extended from the transverse sliding plate, and the transverse sliding plate is fixedly connected to the movable plate.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921452859.0U CN210930222U (en) | 2019-09-03 | 2019-09-03 | Tableware recovery unit based on AGV |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921452859.0U CN210930222U (en) | 2019-09-03 | 2019-09-03 | Tableware recovery unit based on AGV |
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| CN210930222U true CN210930222U (en) | 2020-07-07 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112110116A (en) * | 2020-09-07 | 2020-12-22 | 上海擎朗智能科技有限公司 | Storage cabinet and appliance recovery system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112110116A (en) * | 2020-09-07 | 2020-12-22 | 上海擎朗智能科技有限公司 | Storage cabinet and appliance recovery system |
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