CN218534538U

CN218534538U - Automatic keep away food delivery robot of barrier

Info

Publication number: CN218534538U
Application number: CN202223110390.7U
Authority: CN
Inventors: 余建
Original assignee: Zhejiang Jike Robot Technology Co ltd
Current assignee: Zhejiang Jike Robot Technology Co ltd
Priority date: 2022-11-22
Filing date: 2022-11-22
Publication date: 2023-02-28
Anticipated expiration: 2032-11-22

Abstract

The utility model provides an automatic obstacle-avoiding food delivery robot, which relates to the technical field of food delivery robots and comprises a food delivery cavity, wherein a robot head is arranged at the top end of the food delivery cavity, arms are arranged on two sides of the food delivery cavity, an obstacle detector is arranged on one end of the robot head and one end of each arm, a buffer mechanism is arranged at the bottom end of the food delivery cavity, rollers are arranged at the bottom end of the buffer mechanism, a placing plate is arranged in the food delivery cavity, moving mechanisms are arranged on two sides of the placing plate, and one end of the food delivery cavity is hinged with a door body; one side through placing the board is provided with moving mechanism, utilizes mutually supporting of moving mechanism, can drive and place the board and carry out convenient removal for meal is convenient and fast more when last unloading, when placing the board and move in and shift out in addition, can drive a body self-closing and open, makes this food delivery robot efficiency higher when using, thereby has improved the practicality of this food delivery robot when using greatly.

Description

Automatic keep away food delivery robot of barrier

Technical Field

The utility model relates to a food delivery robot technical field especially relates to an automatic food delivery robot who keeps away barrier.

Background

Along with the development of economy, the technological level is continuously improved, the development of the robot industry in China is very rapid, more and more food delivery robots are used in daily life, the food delivery robots are greatly convenient to use for the life of people, in order to enable the food delivery robots to be safer in use, obstacle avoidance structures are installed to carry out automatic obstacle avoidance processing, detection is carried out by detection obstacle avoidance components such as a visual sensor or an ultrasonic sensor and an infrared sensor, calculation processing is carried out by means of algorithms such as a genetic algorithm or a potential field algorithm after detection, and therefore automatic information acquisition processing obstacle avoidance of the automatic obstacle avoidance intelligent robot is achieved;

current food delivery robot places the meal on the tray when using basically, exposes in the air, make dust or bacterium etc. in the air contact with the meal easily, make the meal safe inadequately when using, moreover when going up unloading to the meal, it is inconvenient to move in or shift out placing the tray, make this food delivery robot comparatively loaded down with trivial details when going up unloading to the meal, convenient inadequately, thereby reduced the convenience of this food delivery robot when using, consequently, the utility model provides an automatic food delivery robot who keeps away the barrier is used for solving above-mentioned problem.

SUMMERY OF THE UTILITY MODEL

To the above problem, the utility model provides an automatic food delivery robot who keeps away barrier has solved among the prior art inconvenience and has moved in or shift out placing the tray for this food delivery robot is comparatively loaded down with trivial details problem when going up unloading to the meal.

For realizing the purpose of the utility model, the utility model discloses a following technical scheme realizes: a food delivery robot capable of automatically avoiding barriers comprises a food delivery cavity, wherein a robot head is mounted at the top end of the food delivery cavity, arms are mounted on two sides of the food delivery cavity, a barrier detector is mounted at one end of the robot head and one end of each arm, a buffer mechanism is arranged at the bottom end of the food delivery cavity, rollers are mounted at the bottom end of the buffer mechanism, a placing plate is arranged inside the food delivery cavity, moving mechanisms are arranged on two sides of the placing plate, and a door body is hinged to one end of the food delivery cavity;

moving mechanism includes fixed slot, movable rail, transmission rack, cavity, worm wheel, drive gear and servo motor, the fixed slot sets up in the both sides of food delivery intracavity portion, the inside of fixed slot is provided with movable rail, one the transmission rack is installed to one side of movable rail, the cavity is installed to one side of food delivery chamber, servo motor is installed to the one end of cavity, the worm is installed to the top of cavity one side, servo motor's output is connected with the one end of worm, one side meshing of worm has the worm wheel, drive gear is installed to the below of worm wheel, one side of drive gear and one side intermeshing of transmission rack.

The further improvement lies in that: the cross section of the fixed groove is larger than that of the movable rail, and a sliding structure is formed between the fixed groove and the movable rail.

The further improvement lies in that: the inside of the door body is provided with a positioning groove, the inside of the positioning groove is provided with a power block, and one end of the power block is hinged to the transmission rack.

The further improvement lies in that: buffer gear includes attenuator, expanding spring, fly leaf, movable rod, installation cavity and limit structure, the installation cavity is installed in the bottom in food delivery chamber, the attenuator is installed on the inside top of installation cavity, the lateral wall of attenuator is provided with expanding spring, the fly leaf is installed to the bottom of attenuator, the movable rod is installed to the bottom of fly leaf, the bottom of movable rod extends to the outside of installation cavity, the bottom of movable rod is connected with the top of gyro wheel.

The further improvement lies in that: the limiting structure comprises a groove body and a movable block, the groove body is arranged inside the installation cavity, the movable block is arranged inside the groove body, and one end of the movable block is connected with one end of the movable plate.

The further improvement lies in that: the cell body is provided with two in the inside of installation cavity, two be the symmetric distribution about the axis of installation cavity between the cell body.

The utility model has the advantages that: the movable mechanism is arranged on one side of the placing plate, and the placing plate can be driven to move conveniently by utilizing the mutual matching of the fixed groove, the movable rail, the transmission rack, the cavity, the worm wheel, the transmission gear, the servo motor, the positioning groove and the power block of the movable mechanism, so that the food can be fed and discharged conveniently and quickly, and the door body can be driven to automatically close and open when the placing plate moves in and out, so that the food delivery robot is higher in efficiency in use, and the practicability of the food delivery robot in use is greatly improved; through being provided with buffer gear in the bottom in food delivery chamber, utilize mutually supporting of buffer gear's attenuator, expanding spring, fly leaf, movable rod, cell body, movable block and installation cavity, can move the time at this robot, carry out buffering to the robot for the inside meal of robot, jolt that receives is less, is difficult for causing the damage to meal, thereby has improved this robot stability when using greatly.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention;

fig. 2 is a schematic view of a front sectional structure of the moving mechanism of the present invention;

fig. 3 is a schematic view of a partially enlarged structure at a in fig. 2 according to the present invention;

fig. 4 is a schematic view of the enlarged structure of the part B in fig. 2 according to the present invention;

fig. 5 is a schematic diagram of a partially enlarged structure at C in fig. 2 according to the present invention.

Wherein: 1. a meal delivery cavity; 2. a robot head; 3. an obstacle detector; 4. an arm; 5. a roller; 6. placing the plate; 7. a door body; 8. fixing grooves; 9. a movable rail; 10. a drive rack; 11. a cavity; 12. a worm; 13. a worm gear; 14. a transmission gear; 15. a servo motor; 16. positioning a groove; 17. a power block; 18. a damper; 19. a tension spring; 20. a movable plate; 21. a movable rod; 22. a trough body; 23. a movable block; 24. and (7) installing a cavity.

Detailed Description

In order to deepen the understanding of the present invention, the following embodiments will be combined to make the present invention do further details, and the present embodiment is only used for explaining the present invention, and does not constitute the limitation of the protection scope of the present invention.

According to fig. 1, 2, 3, 4 and 5, the embodiment provides an automatic obstacle-avoiding food delivery robot, which comprises a food delivery cavity 1, a robot head 2 is installed at the top end of the food delivery cavity 1, arms 4 are installed on two sides of the food delivery cavity 1, an obstacle detector 3 is installed at one ends of the robot head 2 and the arms 4, the obstacle detector 3 comprises a visual sensor, an ultrasonic sensor and an infrared sensor, the obstacle is detected by the detection obstacle-avoiding or ultrasonic sensor and the infrared sensor of the visual sensor, a buffer mechanism is arranged at the bottom end of the food delivery cavity 1, rollers 5 are installed at the bottom end of the buffer mechanism, a placing plate 6 is arranged inside the food delivery cavity 1, moving mechanisms are arranged on two sides of the placing plate 6, and a door body 7 is hinged to one end of the food delivery cavity 1.

The moving mechanism comprises a fixed groove 8, a movable rail 9, a transmission rack 10, a cavity 11, a worm 12, a worm wheel 13, a transmission gear 14 and a servo motor 15, the fixed grooves 8 are arranged at two sides of the inside of the meal delivery cavity 1, the inside of the fixed groove 8 is provided with movable rails 9, one side of one movable rail 9 is provided with a transmission rack 10, a cavity body 11 is arranged at one side of the meal delivery cavity 1, a servo motor 15 is arranged at one end of the cavity body 11, a worm 12 is arranged above one side of the cavity 11, the output end of the servo motor 15 is connected with one end of the worm 12, one side of the worm 12 is engaged with a worm wheel 13, a transmission gear 14 is arranged below the worm wheel 13, one side of the transmission gear 14 is meshed with one side of the transmission rack 10, the cross section of the fixed groove 8 is larger than that of the movable rail 9, a sliding structure is formed between the fixed groove 8 and the movable rail 9, when in use, the servo motor 15 is started to drive the worm 12 to rotate, because the worm 12 and the worm wheel 13 are engaged with each other, the worm wheel 13 is driven to rotate, and further the transmission gear 14 is driven to rotate, due to the mutual engagement between the transmission gear 14 and the transmission rack 10, under the cooperation of the fixed groove 8 and the movable rail 9, the placing plate 6 is driven by the transmission rack 10 to move, the placing plate 6 is moved out from the inside of the meal delivery cavity 1, at the moment, the power block 17 moves in the positioning groove 16, the door body 7 is automatically opened by the power block 17, then, the meal is placed above the placing plate 6, then the servo motor 15 is started to be reversely rotated, the placing plate 6 is moved to the inside of the meal delivery chamber 1, and the door body 7 is automatically closed, so that the food delivery robot has higher efficiency when in use, and the practicability of the food delivery robot when in use is greatly improved.

The inside of the door body 7 is provided with a positioning groove 16, the inside of the positioning groove 16 is provided with a power block 17, one end of the power block 17 is hinged to the transmission rack 10, and when the door body 7 is moved by placing the plate 6, the door body 7 is driven to move by utilizing the mutual matching of the positioning groove 16 and the power block 17 during use, so that the door body 7 is synchronously opened and closed with the placing plate 6.

Buffer gear includes attenuator 18, expanding spring 19, fly leaf 20, movable rod 21, installation cavity 24 and limit structure, installation cavity 24 is installed in the bottom in meal delivery chamber 1, attenuator 18 is installed on the inside top of installation cavity 24, the lateral wall of attenuator 18 is provided with expanding spring 19, fly leaf 20 is installed to the bottom of attenuator 18, movable rod 21 is installed to the bottom of fly leaf 20, the bottom of movable rod 21 extends to the outside of installation cavity 24, the bottom of movable rod 21 is connected with gyro wheel 5's top, and during the use, the robot is when removing, and expanding spring 19 receives the effect of elasticity this moment, under the spacing of cell body 22 and movable block 23, drives fly leaf 20 through expanding spring 19 and stretch out and draw back and move, and then drives movable rod 21 and stretch out and draw back and move, alleviates the impact force that this meal delivery robot received for the inside meal of robot, the meal that receives is less, is difficult for causing the damage to the meal jolt, thereby has improved this robot stability when using greatly.

Limit structure includes cell body 22 and movable block 23, cell body 22 sets up in the inside of installation cavity 24, the inside of cell body 22 is provided with movable block 23, the one end of movable block 23 is connected with the one end of fly leaf 20, cell body 22 is provided with two, two in the inside of installation cavity 24 be the symmetric distribution about the axis of installation cavity 24 between the cell body 22, during the use, utilize mutually supporting of cell body 22 and movable block 23, can carry out spacing processing to fly leaf 20 and movable rod 21 when removing for fly leaf 20 and movable rod 21 are more stable when removing.

The working principle is as follows: the working personnel firstly start the servo motor 15 to drive the worm 12 to rotate, the worm 12 and the worm wheel 13 are meshed with each other, so the worm wheel 13 is driven to rotate, the transmission gear 14 and the transmission rack 10 are meshed with each other, so the placing plate 6 is driven by the transmission rack 10 to move under the matching of the fixed groove 8 and the movable rail 9, the placing plate 6 is moved out from the inside of the meal delivery cavity 1, at the moment, the power block 17 moves in the positioning groove 16, the door body 7 is automatically opened by the power block 17, then the meal is placed above the placing plate 6, then the servo motor 15 is started to reversely rotate, and the placing plate 6 is moved to the inside of the meal delivery cavity 1, the door body 7 is automatically closed, then the food delivery robot is used for food delivery treatment, the obstacles are collected and treated by the obstacle detectors 3 on the head 2 and the arm 4 of the robot, then automatic obstacle avoidance is carried out through the processor, the robot is prevented from colliding with the obstacles, when the robot moves, the telescopic spring 19 is under the action of elasticity, the movable plate 20 is driven by the telescopic spring 19 to move in a telescopic mode under the limiting of the groove body 22 and the movable block 23, the movable rod 21 is further driven to move in a telescopic mode, the impact force on the food delivery robot is relieved, after the robot is delivered to a destination, the servo motor 15 is started, the placing plate 6 is moved out from the inside of the food delivery cavity 1, and food can be taken out.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides an automatic food delivery robot of keeping away barrier, includes food delivery chamber (1), its characterized in that: a robot head (2) is installed at the top end of the meal delivery cavity (1), arms (4) are installed on two sides of the meal delivery cavity (1), a barrier detector (3) is installed at one end of each of the robot head (2) and the arms (4), a buffer mechanism is arranged at the bottom end of the meal delivery cavity (1), rollers (5) are installed at the bottom end of the buffer mechanism, a placing plate (6) is arranged inside the meal delivery cavity (1), moving mechanisms are arranged on two sides of the placing plate (6), and a door body (7) is hinged to one end of the meal delivery cavity (1);

moving mechanism includes fixed slot (8), movable rail (9), driving rack (10), cavity (11), worm (12), worm wheel (13), drive gear (14) and servo motor (15), fixed slot (8) set up in the inside both sides of food delivery chamber (1), the inside of fixed slot (8) is provided with movable rail (9), one driving rack (10) are installed to one side of movable rail (9), cavity (11) are installed to one side of food delivery chamber (1), servo motor (15) are installed to the one end of cavity (11), worm (12) are installed to the top of cavity (11) one side, the output of servo motor (15) is connected with the one end of worm (12), one side meshing of worm (12) has worm wheel (13), drive gear (14) are installed to the below of worm wheel (13), one side of drive gear (14) and one side intermeshing of driving rack (10).

2. The automatic obstacle avoidance meal delivery robot as claimed in claim 1, wherein: the cross section of the fixed groove (8) is larger than that of the movable rail (9), and a sliding structure is formed between the fixed groove (8) and the movable rail (9).

3. The automatic obstacle avoidance meal delivery robot as claimed in claim 2, wherein: the inside of the door body (7) is provided with a positioning groove (16), the inside of the positioning groove (16) is provided with a power block (17), and one end of the power block (17) is hinged to the transmission rack (10).

4. The automatic obstacle avoidance meal delivery robot as claimed in claim 1, wherein: buffer gear includes attenuator (18), expanding spring (19), fly leaf (20), movable rod (21), installation cavity (24) and limit structure, install in the bottom in food delivery chamber (1) installation cavity (24), attenuator (18) are installed on the inside top of installation cavity (24), the lateral wall of attenuator (18) is provided with expanding spring (19), fly leaf (20) are installed to the bottom of attenuator (18), movable rod (21) are installed to the bottom of fly leaf (20), the bottom of movable rod (21) extends to the outside of installation cavity (24), the bottom of movable rod (21) is connected with the top of gyro wheel (5).

5. The automatic obstacle avoidance meal delivery robot as claimed in claim 4, wherein: limiting structure includes cell body (22) and movable block (23), cell body (22) set up in the inside of installation cavity (24), the inside of cell body (22) is provided with movable block (23), the one end of movable block (23) is connected with the one end of fly leaf (20).

6. The automatic obstacle avoidance meal delivery robot according to claim 5, wherein: the two groove bodies (22) are arranged in the mounting cavity (24), and the two groove bodies (22) are symmetrically distributed relative to the central axis of the mounting cavity (24).