CN220840190U - Intelligent catering robot - Google Patents

Abstract

The utility model relates to the technical field of catering service robots, in particular to an intelligent catering robot which comprises a moving module, a rotating module, a lifting module, a telescopic module and a clamping module, wherein the rotating module is fixed at the upper end of the moving module, the lifting module is arranged at the top end of the rotating module, the telescopic module is fixed at the top end of the lifting module and is connected with the clamping module, the telescopic module comprises an arm box body, a cylinder, a sleeve III, a limiting block and a supporting shaft, the cylinder is fixed in the arm box body, the sleeve III is fixed at the end of a telescopic rod of the cylinder, the sleeve III is movably connected in the arm box body, the limiting block is fixed on the three outer shell of the sleeve, the clamping module is fixed at the three extending end of the sleeve, and the clamping module can prevent dinner products from being polluted by suspended matters in air and simultaneously has the effect of preserving heat of the dinner products.

Description

Intelligent catering robot

Technical Field

The utility model relates to the technical field of catering service robots, in particular to an intelligent catering robot.

Background

At present, a dining robot exists in the catering industry, the dining robot is mainly responsible for meal delivery work, and storage identification and staff control of the intelligent robot on a restaurant route enable the robot to stably and accurately deliver specified dishes of customers to the front of a table, however, the conventional dining robot is high in manufacturing cost, stable and frequent dumping of the dishes cannot be guaranteed in the transportation process, the dishes have no protection function, and air suspended matters are easy to float in the dishes.

Disclosure of utility model

The utility model provides an intelligent catering robot.

In order to achieve the above purpose, the present utility model adopts the following technical scheme:

The intelligent catering robot comprises a moving module, a rotating module, a lifting module, a telescopic module and a clamping module, wherein the rotating module is fixed at the upper end of the moving module, the lifting module is arranged at the top end of the rotating module, the telescopic module is fixed at the top end of the lifting module and is connected with the clamping module, the telescopic module comprises an arm box body, a cylinder, a sleeve III, a limiting block and a supporting shaft, the cylinder is fixed inside the arm box body, the end part of a telescopic rod of the cylinder is fixed with the sleeve III, the sleeve III is movably connected inside the arm box body, the limiting block is fixed on the sleeve III shell, the clamping module is fixed at the extending end of the sleeve III, the clamping module comprises a claw I, a claw II, a limiting plate, a motor, a bearing III, a gasket II, a threaded transmission shaft, a hand spindle, a flange linear bearing, a transmission shaft, a tray shell, a first rolling door and a second rolling door, the motor is fixed in the clamping shell, the threaded transmission shaft is arranged at the power output end of the motor in the clamping shell, the bearing III is arranged at the position where the threaded transmission shaft is arranged at the position where the clamping shell is arranged, the power output shaft of the motor is connected with the threaded transmission shaft through a coupler, the other end of the threaded transmission shaft is fixedly provided with a hand main shaft, the other end of the hand main shaft is arranged on the clamping shell in an erect mode, the bearing III is arranged between the hand main shaft and the clamping shell, the threaded transmission shaft is connected with the transmission shaft, a spring is arranged between the transmission shaft and the clamping shell, a flange linear bearing is arranged between the transmission shaft and the clamping shell, the flange linear bearing is fixed on the clamping shell, one end of the transmission shaft is connected with the first hand claw and the second hand claw in a cross movable mode, bending points of the first hand claw and the second hand claw are respectively provided with limiting plates, the utility model discloses a flexible module, including clamping module, first, second, hand claw, limiting plate, arm box, slide, first, second, connecting slide post on the hand claw is fixed connection slide post respectively, the limiting plate is fixed on the clamping housing terminal surface, the fixed tray casing of limiting plate up end, be provided with the slide rail on the tray casing, swing joint rolling door first, rolling door second respectively, connecting slide post on the hand claw connects rolling door second, passes flexible module's arm box is fixed be provided with the back shaft on clamping module's the clamping housing.

Further, the mobile module comprises a bearing vehicle body, tires, rims, rotating shafts and fixed discs, wherein two groups of rotating shafts are arranged at the bottom of the bearing vehicle body, rims are arranged on the rotating shafts, the rims are fixed on the rotating shafts through the fixed discs, the fixed discs are fixed on the rotating shafts through bolts, the tires are respectively fixed at two ends of the rims, and the upper end face of the bearing vehicle body is fixed on a base.

Further, the rotary module comprises a rotary shaft, a first sleeve, a first fixed shaft, a large gear, a pinion, a base motor, a base, a second sleeve and a first bearing, wherein the base is fixed on the upper end face of the mobile module, the base motor is fixed inside the base, a power output shaft of the base motor is connected into the pinion upwards, the first fixed shaft is arranged at one end of the power output shaft of the base motor, which penetrates through the pinion, and is fixed inside the pinion in a key connection mode, the first bearing is arranged between the first fixed shaft and the base, the first sleeve is fixed inside one side of the base motor, the first bearing is arranged between the first sleeve and the base, the first bearing is arranged inside the first sleeve in a penetrating manner, the rotary shaft is fixed on the rotary shaft, the large gear is arranged at the top of the first sleeve, the second sleeve is arranged on the top of the large gear, and the large gear is meshed with the pinion.

Further, the lifting module comprises an outer shell, a second bearing, a gasket, a waistline motor, a second fixing shaft, a gear and a lifting shaft, wherein the waistline motor is fixed in the outer shell, the second bearing is arranged at the power output end of the waistline motor in the inner part of the outer shell, the power output shaft of the waistline motor penetrates through the second bearing to be connected with the gear, the power output shaft of the waistline motor is fixed with the gear through key connection, one end of the waistline motor is provided with the second fixing shaft, the other end of the second fixing shaft is movably connected in the outer shell, the first gasket is fixed between the waistline motor and the gear, the lifting shaft is meshed with the gear, and the lifting shaft is movably inserted into the rotating shaft.

The beneficial points are that:

The clamping module is provided with a tray shell, the tray shell is respectively provided with a first rolling door and a second rolling door, the first rolling door is connected with a first claw, the second rolling door is connected with a second claw, the first claw and the second claw synchronously translate, the first claw and the second claw are limited by a limiting plate to do arc track translation, the first rolling door and the second rolling door are driven to translate along a sliding rail track on the tray shell, the first rolling door and the second rolling door on the tray shell are synchronously opened and closed, protection is formed, the dinner products can be prevented from being polluted by suspended matters in the air, and meanwhile, the thermal insulation effect of the dinner products is achieved.

The telescopic module is provided with the air cylinder, the air cylinder operates to drive the sleeve to translate in the arm box body, the same limiting blocks are arranged on the upper end face and the lower end face of the outer end face of the sleeve, stable translation of the sleeve in the arm box body is ensured, the arm box body penetrating through the telescopic module is fixed on the clamping shell of the clamping module, and the stability of the telescopic module extending out of or retracting back into the clamping module is further ensured, so that the dinner products cannot be scattered.

According to the utility model, the intelligent robot meal taking and delivering is divided into the independent five modules of the mobile module, the rotary module, the lifting module, the telescopic module and the clamping module, and the follow-up device can be updated at any time by adopting modularized division, so that the updating and upgrading of the equipment are more flexible.

Drawings

Fig. 1 is a front view, full section, of an intelligent dining robot of the present utility model;

fig. 2 is a front view, full cross-section, of the intelligent dining robot of the present utility model:

Fig. 3 is a front view, full cross-section, of the intelligent dining robot of the present utility model;

Fig. 4 is a partial enlarged view of the utility model of fig. 3 a:

Fig. 5 is a left side view full cross-section of the intelligent dining robot of the present utility model:

FIG. 6 is a top view, full cross-section, of the intelligent dining robot of the present utility model;

fig. 7 is a partial enlarged view of B of fig. 6 according to the present utility model:

FIG. 8 is an enlarged view of a portion of C of FIG. 6 in accordance with the present utility model;

FIG. 9 is a schematic diagram showing the structural connection of a first and a second hand;

FIG. 10 is a schematic perspective view of a tray housing according to the present utility model;

FIG. 11 is a schematic diagram of the connection structure of the tray housing, first and second claws, and the limiting plate according to the present utility model.

In the figure: a moving module, a rotating module, a lifting module, a telescopic module and a clamping module are arranged in sequence, wherein the moving module, the rotating module, the lifting module, the telescopic module and the clamping module are arranged in sequence;

101 bearing car body, 102 tyre, 103 rim, 104 rotating shaft, 105 fixed disk;

201 rotation shaft, 202 sleeve one, 203 fixed shaft one, 204 large gear, 205 small gear, 206 base motor, 207 base, 208 sleeve two, 209 bearing one;

301 outer shell, 302 bearing two, 303 washer one, 304 waistline motor, 305 fixed shaft two, 306 gear, 307 lifting shaft;

401 arm box, 402 cylinder, 403 sleeve three, 404 stopper, 405 support shaft;

501 paw I, 502 paw II, 503 limiting plate, 504 motor, 505 bearing III, 506 washer II, 507 threaded transmission shaft, 508 hand main shaft, 509 flange linear bearing, 510 transmission shaft, 511 tray shell, 512 roller door I, 513 roller door II, 514 slide rail, 515 connecting slide post, 516 clamping shell, 517 spring.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments.

In the description of the present utility model, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present utility model and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.

Referring to fig. 1-11, the intelligent dining robot in the embodiment 1 of the utility model comprises a moving module 1, a rotating module 2, a lifting module 3, a telescopic module 4 and a clamping module 5, wherein the rotating module 2 is fixed at the upper end of the moving module 1, the lifting module 3 is arranged at the top end of the rotating module 2, the telescopic module 4 is fixed at the top end of the lifting module 3, the telescopic module 4 is connected with the clamping module 5, the moving module 1 comprises a carrying car body 101, a tire 102, a rim 103, a rotating shaft 104 and a fixed disc 105, two groups of rotating shafts 104 are arranged at the bottom of the carrying car body 101, each rotating shaft 104 is provided with a rim 103, the rim 103 is fixed on the rotating shaft 104 through the fixed disc 105, the fixed disc 105 is fixed on the rotating shaft 104 through bolts, two ends of the rim 103 are respectively fixed with the tire 102, the upper end face of the carrying car body 101 is fixed on a base 201, the rotating module 2 comprises a rotating shaft 201, a sleeve one 202, a fixed shaft one 203, a large gear 204, a small gear 205, a base 207, a sleeve two 208 and a bearing one 209, the base 207 are fixed on the base 207, the motor 205 is fixed on the upper end face of the moving module 1, the motor 205 is fixed on the motor 205, the base 205 is fixed on the base 205, the inner part of the fixed on the base 206 is fixed on the fixed shaft 202, one side of the fixed shaft 206 is connected with the base 207 through the fixed shaft 206, one end of the fixed shaft 206 and the fixed on the base 207, the fixed shaft is fixed on the base 207, the base 201 and the base 201 is fixed on the base 201 through the fixed on the fixed shaft and the base 209, the rotating shaft 201 is fixed with a large gear 204, the large gear 204 is positioned at the top of the first sleeve 202, the rotating shaft 201 is sleeved with a second sleeve 208, the second sleeve 208 is positioned at the top of the large gear 204, a lifting shaft 307 is inserted into the rotating shaft 201, the lifting module 3 comprises an outer shell 301, a second bearing 302, a first gasket 303, a waist motor 304, a second fixing shaft 305, a gear 306 and a lifting shaft 307, the waist motor 304 is fixed in the outer shell 301, the second bearing 302 is fixed at the power output end of the waist motor 304 in the outer shell 301, the power output shaft of the waist motor 304 is connected with the gear 306 through a key, one end of the waist motor 304 is connected with the second fixing shaft 305 in an internal mode, the other end of the second fixing shaft 305 is movably connected in the outer shell 301, pinion 306 meshes lift axle 307, lift axle 307 activity inserts inside the rotation axis 201, flexible module 4 includes arm box 401, cylinder 402, sleeve three 403, stopper 404, back shaft 405, cylinder 402 is fixed inside arm box 401, the telescopic link tip of cylinder 402 fixes sleeve three 403, sleeve three 403 swing joint is inside arm box 401, sleeve three 403 shell fixes stopper 404, sleeve three 403 stretches out and holds fixed clamping module 5, passes arm box 401 of flexible module 4 is fixed and is provided with back shaft 405 on clamping housing 516 of clamping module 5, clamping module 5 includes first hand claw 501, second hand claw 502, limiting plate 503, motor 504, bearing three 505, second washer 506, threaded transmission shaft 507, hand main shaft 508, flange linear bearing 509, transmission shaft 510, tray casing 511-, the first rolling door 512, the second rolling door 513, the sliding rail 514, the connecting sliding column 515, the clamping shell 516 and the spring 517, the motor 504 is fixed inside the clamping shell, the threaded transmission shaft 507 is arranged inside the clamping shell 516 and is positioned at the power output end of the motor 504, the bearing III 505 is arranged at the erection position of the clamping shell 516, the power output shaft of the motor 504 is connected with the threaded transmission shaft 507 through a coupling, the other end of the threaded transmission shaft 507 is fixedly provided with the hand spindle 508, the other end of the hand spindle 508 is arranged on the clamping shell 516, the bearing III 505 is arranged between the hand spindle 508 and the clamping shell 516, the threaded transmission shaft 507 is connected with the transmission shaft 510, the spring 517 is arranged between the transmission shaft 510 and the clamping shell, the flange linear bearing 509 is arranged between the transmission shaft 510 and the clamping shell 516, one end of the transmission shaft 510 is connected with the first hand claw 501 and the second hand claw 502 in a cross-movable mode, the bending points of the first hand claw 501 and the second hand claw 502 are respectively provided with the limiting plate 503, the upper end faces of the first hand claw 501 and the second hand claw are respectively fixedly connected with the limiting plate 503, the end faces of the second hand spindle 515 are fixedly connected with the first rolling column 515 and the second rolling column is fixedly connected with the sliding column 513, the tray is fixedly connected with the end face of the second rolling column is connected with the first rolling column 511, the tray is fixedly connected with the second rolling column 512, the tray is connected with the second rolling column 512, the tray is fixedly connected with the upper tray is 512, and is fixedly connected with the upper tray is arranged on the upper tray 512.

Referring to the intelligent catering robot shown in fig. 1-11, when taking a meal, the mobile module first moves to the meal outlet. After reaching the meal outlet, the base motor 206 in the rotary module 2 rotates to drive the pinion 205 to rotate, the pinion 205 is meshed with the bull gear 204 to rotate, the clamping module 5 rotates to a proper position, the lifting module 3 operates, the waist motor 304 contained in the lifting module 3 operates to drive the gear 306 to rotate, the gear 306 is meshed with the lifting shaft 307 to drive the telescopic module 4 to translate upwards, after the lifting module 3 lifts the telescopic module 4 to a proper position, the telescopic module 4 starts to operate, the cylinder 402 contained in the telescopic module 4 starts to operate, the cylinder 402 pushes the sleeve III 403 to translate in the arm box 401, the sleeve III 403 is supported in the arm box 401 by the limiting block 404 arranged on the shell of the sleeve III 403 in the translation process of the sleeve III 403 to prevent the sleeve III 403 from shifting and separating, the sleeve III 403 is connected with the clamping module 5, after the telescopic module 4 stretches the clamping module 5 to a proper position, a motor 504 contained in the clamping module 5 runs, a power output shaft of the motor 504 is connected with a hand spindle 508 through a coupler, the hand spindle 508 rotates to drive a threaded transmission shaft 507 to rotate, the threaded transmission shaft 507 drives a transmission shaft 510 to translate forward under the action of threads, the transmission shaft 510 translates forward to drive a first claw 501 and a second claw 502 to move, because the first claw 501 and the second claw 502 are respectively hinged with a limiting plate 503, the limiting plate 503 limits the first claw 501 and the second claw 502 to translate only in an arc track, the upper end surface of the limiting plate 503 is fixed with a tray shell 511, a slide rail 514 is arranged on the tray shell 511, the slide rail 514 is respectively and movably connected with a first rolling door 512 and a second rolling door 513, the upper end surfaces of the first claw 501 and the second claw 502 are respectively and fixedly connected with a slide post 515, the connecting slide post on the first claw 501 is connected with the first rolling door 512, the connecting sliding column 515 fixed on the upper end face of the second claw 502 is connected with the second rolling door 513, the first claw 501 and the second claw 502 translate to respectively drive the first rolling door 512 and the second rolling door 513 translate along the track of the sliding rail 514, the first rolling door 512 and the second rolling door 513 are opened to put the meal into the tray shell 511, the motor 504 inside the clamping jaw module 5 is reversed to drive the threaded transmission shaft 507 to be reversed, the threaded transmission shaft 507 is reversed to drive the transmission shaft 510 to retract, and the transmission shaft 510 is retracted to drive the first claw 501 and the second claw 502

The first rolling door 512 and the second rolling door 513 are closed by backward translation, the moving module 1 conveys the meal to the designated position, the meal taking step is repeated, the first rolling door 512 and the second rolling door 513 are opened, and the first rolling door 512 and the second rolling door 513 are closed after the meal is taken out, so that the meal delivery process is completed.

The foregoing is only a preferred embodiment of the present utility model, but the scope of the present utility model is not limited thereto, and any person skilled in the art, who is within the scope of the present utility model, should make equivalent substitutions or modifications according to the technical scheme of the present utility model and the inventive concept thereof, and should be covered by the scope of the present utility model.

Claims (4)

1. Intelligent catering robot, its characterized in that: including movable module (1), rotary module (2), lifting module (3), flexible module (4), centre gripping module (5), movable module (1) upper end fixed rotary module (2), rotary module (2) top sets up lifting module (3), flexible module (4) are fixed on lifting module (3) top, centre gripping module (5) are connected to flexible module (4), flexible module (4) include arm box (401), cylinder (402), sleeve three (403), stopper (404), back shaft (405), cylinder (402) are fixed inside arm box (401), telescopic link tip fixed sleeve three (403) of cylinder (402), sleeve three (403) swing joint is inside arm box (401), sleeve three (403) shell fixed stopper (404), sleeve three (403) stretch out end fixed centre gripping module (5), centre gripping module (5) include claw one (501), claw two (502), limiting plate (503), motor (504), bearing three (505), two (506), shaft (509), linear flange (508), linear flange (510), tray casing (511), rolling door one (512), rolling door two (513), slide rail (514), connection slide column (515), centre gripping casing (516), inside fixed motor (504) of centre gripping casing, inside screw thread transmission shaft (507) that are located motor (504) power take off end that is located of centre gripping casing (516), screw thread transmission shaft (507) are located centre gripping casing (516) and erect the position and set up three (505) of bearing, motor (504) power take off shaft passes through shaft coupling connection screw thread transmission shaft (507), screw thread transmission shaft (507) other end fixed hand main shaft (508), hand main shaft (508) other end erects on centre gripping casing (516), set up three (505) of bearing between hand main shaft (508) and centre gripping casing (516), screw thread transmission shaft (507) connect transmission shaft (510), be provided with spring (517) between transmission shaft (510) and the centre gripping casing, set up flange linear bearing (509) between transmission shaft (510) and centre gripping casing (516), flange linear bearing (509) are fixed on centre gripping casing (516), one end cross movable connection of transmission shaft (510) one end, two (501) are articulated, two (501) one hand claw (501), one hand claw (501) The bending points of the two handles (502) are respectively provided with a limiting plate (503), the two upper end surfaces of the two handles (501) and the two handles are respectively fixedly connected with a sliding column (515), the limiting plates (503) are fixed on the end surfaces of the clamping shells (516), the upper end surfaces of the limiting plates (503) are fixedly provided with a tray shell (511), the tray shell (511) is provided with sliding rails (514), the sliding rails (514) are respectively movably connected with the first rolling door (512) and the second rolling door (513), the sliding column (515) connected with the first rolling door (512) is connected with the first connecting column (515) on the two handles (502), and the second rolling door (513) is connected with the connecting column (515) on the second connecting column, and the supporting shaft (405) penetrates through the arm box (401) of the telescopic module (4) to be fixed on the clamping shells (516) of the clamping modules (5).

2. The intelligent dining robot of claim 1, wherein: the mobile module (1) comprises a bearing car body (101), tires (102), rims (103), rotating shafts (104) and fixing discs (105), wherein two groups of rotating shafts (104) are arranged at the bottom of the bearing car body (101), each rotating shaft (104) is provided with a rim (103), the rims (103) are fixed on the rotating shafts (104) through the fixing discs (105), the fixing discs (105) are fixed on the rotating shafts (104) through bolts, the tires (102) are respectively fixed at two ends of each rim (103), and fixing bases (207) are arranged on the upper end faces of the bearing car body (101).

3. The intelligent dining robot of claim 1, wherein: the rotary module (2) comprises a rotary shaft (201), a sleeve I (202), a fixed shaft I (203), a large gear (204), a pinion (205), a base motor (206), a base (207), a sleeve II (208) and a bearing I (209), wherein the base (207) is fixed on the upper end face of the mobile module (1), the base motor (206) is fixed inside the base (207), a power output shaft of the base motor (206) is upwards connected into the pinion (205), one end of the power output shaft of the base motor (206) penetrates through the pinion (205) and is provided with the fixed shaft I (203), the fixed shaft I (203) is fixed inside the pinion (205) in a key connection mode, a bearing I (209) is arranged between the fixed shaft I (203) and the base (207), the sleeve I (202) is fixed on one side of the base motor (206), the bearing I (209) is arranged between the sleeve I (202) and the base (207), the rotary shaft (201) is arranged inside the sleeve I (202), the large gear (204) is fixed on the top of the large gear (204), the rotating shaft (201) is sleeved with a sleeve II (208), the sleeve II (208) is positioned at the top of the large gear (204), and the large gear (204) is meshed with the small gear (205).

4. The intelligent dining robot of claim 1, wherein: lifting module (3) are including shell body (301), bearing two (302), packing ring one (303), waist motor (304), fixed axle two (305), gear (306), lift axle (307), the inside fixed waist motor (304) of shell body (301), the inside bearing two (302) that are provided with of being located waist motor (304) power take off end of shell body (301), waist motor (304) power take off shaft passes bearing two (302) and connects gear (306), waist motor (304) power take off shaft passes through key connection and is fixed with gear (306), the one end of gear (306) internally connected waist motor (304) sets up fixed axle two (305), fixed axle two (305) other end swing joint is inside shell body (301), fixed packing ring one (303) between waist motor (304) and the gear (306), gear (306) meshing lift axle (307), lift axle (307) activity inserts inside rotation axis (201).