CN110919663B - Indoor high-flexibility closed meal delivery robot - Google Patents
Indoor high-flexibility closed meal delivery robot Download PDFInfo
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- CN110919663B CN110919663B CN201910991356.9A CN201910991356A CN110919663B CN 110919663 B CN110919663 B CN 110919663B CN 201910991356 A CN201910991356 A CN 201910991356A CN 110919663 B CN110919663 B CN 110919663B
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- horizontal plate
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- 235000012054 meals Nutrition 0.000 title claims abstract description 18
- 239000000463 material Substances 0.000 claims abstract description 102
- 230000005540 biological transmission Effects 0.000 claims description 58
- 230000001360 synchronised effect Effects 0.000 claims description 25
- 230000003287 optical effect Effects 0.000 claims description 16
- 238000010168 coupling process Methods 0.000 claims description 8
- 238000005859 coupling reaction Methods 0.000 claims description 8
- 230000008878 coupling Effects 0.000 claims description 7
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 238000007789 sealing Methods 0.000 claims description 3
- 238000013461 design Methods 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 238000007599 discharging Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 235000013305 food Nutrition 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004973 motor coordination Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47G—HOUSEHOLD OR TABLE EQUIPMENT
- A47G23/00—Other table equipment
- A47G23/08—Food-conveying devices for tables; Movable or rotary food-serving devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an indoor high-flexibility closed meal delivery robot which comprises a material storage lifting mechanism, a shell sleeved outside the material storage lifting mechanism, a material door arranged on the shell and a bearing driving mechanism arranged below the material storage lifting mechanism. The material storage lifting mechanism comprises an upper horizontal plate, an upper rotating shaft, an upper output belt pulley, a lower horizontal plate, a lower rotating shaft, a lower output belt pulley, a conveyor belt, a material tray and a lifting driving unit connected to the end part of the lower rotating shaft; the lifting driving unit can drive the lower rotating shaft to rotate, so that the lower output belt wheel is sequentially driven to rotate, the conveyor belt is driven, and the material tray is lifted; the bearing driving mechanism comprises a mounting plate, a steering wheel and a bearing wheel, wherein the steering wheel and the bearing wheel are arranged below the mounting plate. The invention has flexible driving and steering, compact structural arrangement, and the material storage lifting mechanism is positioned in the sealed shell, so that the material tray is positioned in the sealed space, and the sealed transportation, feeding and taking convenience of single multi-tray meal can be realized.
Description
Technical Field
The invention belongs to the field of machinery, and particularly relates to an indoor high-flexibility closed meal delivery robot, in particular to a meal delivery robot which has high flexibility in the indoor, flexible driving and steering and closed transportation environment.
Background
With the rapid development of social economy, the daily consumption capability and the technological level of people are continuously improved, and service robots are gradually applied to daily life of people and play a vital role in different fields. As one type of service robot, an indoor service robot is generally characterized by being intelligent, compact, and the like. Although some food delivery robot products are put into use in the market, the problems of fixed running track, less food transportation, exposed food and the like generally exist. In a control system, a singlechip, a PLC (programmable logic controller) and the like are generally adopted as microcontrollers, so that the hardware cost investment is high, and the market application of the robot is limited.
Disclosure of Invention
Aiming at the defects and shortcomings in the prior art, the invention provides an indoor high-flexibility closed meal delivery robot, which solves the problems of fixed running track, lower flexibility, low meal delivery efficiency and the like of the existing meal delivery robot.
In order to achieve the above purpose, the invention adopts the following technical scheme:
An indoor high-flexibility closed meal delivery robot comprises a material storage lifting mechanism, a shell sleeved outside the material storage lifting mechanism, a material door arranged on the shell and a bearing driving mechanism arranged below the material storage lifting mechanism;
The material storage lifting mechanism comprises an upper horizontal plate, a plurality of upper rotating shafts which are arranged on the lower surface of the upper horizontal plate and are parallel to each other, upper output belt pulleys which are arranged at the two ends of each upper rotating shaft, lower horizontal plates which are parallel to the upper horizontal plate and are positioned right below the upper rotating shafts, a plurality of lower rotating shafts which are arranged on the upper surface of the lower horizontal plates and are in one-to-one correspondence with the upper rotating shafts, lower output belt pulleys which are arranged at the two ends of each lower rotating shaft and are in one-to-one correspondence with the upper output belt pulleys, a conveyor belt sleeved on the corresponding upper output belt pulleys and the lower output belt pulleys, a material tray which is fixed with the conveyor belt and is positioned between the upper horizontal plate and the lower horizontal plate, and a lifting driving unit which is connected at the end part of the lower rotating shafts; the lifting driving unit can drive the lower rotating shaft to rotate, so that the lower output belt pulley is sequentially driven to rotate, the conveyor belt is driven, and the material tray is lifted;
the bearing driving mechanism comprises a mounting plate, a steering wheel and a bearing wheel, wherein the steering wheel and the bearing wheel are arranged on the lower surface of the mounting plate.
The invention also comprises the following technical characteristics:
specifically, the steering wheel comprises a steering wheel frame, wherein the steering wheel frame comprises a horizontal plate, and a first vertical plate and a second vertical plate which are mutually parallel and are vertically fixed on the lower surface of the horizontal plate;
The steering wheel also comprises a driving wheel arranged between the first vertical plate and the second vertical plate, a steering wheel driving motor connected to one side of the driving wheel through a coupling and fixed on the outer side of the first vertical plate, a brake connected to the other side of the driving wheel through a connecting shaft and fixed on the outer side of the second vertical plate, a steering wheel steering motor fixed on the lower surface of the horizontal plate and with an output shaft penetrating to the upper part of the lower surface, a small belt wheel connected with the output shaft of the steering wheel steering motor and positioned on the upper surface of the horizontal plate, a large belt wheel connected with the small belt wheel through a transmission belt and fixed on the upper surface of the horizontal plate, and a turntable bearing arranged at the upper end of the large belt wheel;
The inner ring of the turntable bearing is fixed with the large belt pulley and can rotate along with the large belt pulley, and the outer ring of the turntable bearing is fixedly connected to the lower surface of the mounting plate; the brake comprises a brake wheel and a friction disc connected with the brake wheel through a shaft and a key;
the two bearing wheels are arranged on the lower surface of the mounting plate; the two bearing wheels and the steering wheel are distributed in a triangle shape, so that the material storage lifting mechanism is supported and driven.
Specifically, a shell opening is formed in the side wall of the shell; the material door comprises an upper transmission shaft arranged on the inner wall of the shell above the opening of the shell, a first synchronous belt pulley and a first overlapping gear which are arranged on two sides of the upper transmission shaft, a material door motor connected with the first overlapping gear, a second overlapping gear which is arranged below the first synchronous belt pulley and is sleeved with a first transmission belt together with the first synchronous belt pulley, a third overlapping gear which is arranged below the first overlapping gear and is sleeved with a second transmission belt together with the first overlapping gear, an upper half door fixed between the first transmission belt and the second transmission belt, a fourth overlapping gear meshed with the second overlapping gear, a second synchronous belt pulley which is arranged below the fourth overlapping gear and is sleeved with a third transmission belt together with the fourth overlapping gear, a fifth synchronous belt pulley which is arranged below the fifth overlapping gear and is sleeved with a fourth transmission belt together with the fifth overlapping gear, a lower half door fixed between the third transmission belt and the fourth transmission belt, and a transmission shaft connected with the second synchronous belt pulley and the inner wall of the shell below the opening of the shell; the material door motor can drive the forward rotation and the reverse rotation of the first overlapped gear, so that the first driving belt and the second driving belt drive the upper half door to move upwards and simultaneously the third driving belt and the fourth driving belt drive the lower half door to move downwards, or the first driving belt and the second driving belt drive the upper half door to move downwards and simultaneously the third driving belt and the fourth driving belt drive the lower half door to move upwards, and further the opening and the closing of the upper half door and the lower half door are realized.
Specifically, the shell is of a square cylindrical structure with an opening at the bottom, the shell can be covered outside the material storage lifting mechanism, the lower end of the shell is in sealing connection with the edge of the mounting plate, and the closed storage of materials in the material storage lifting mechanism is realized; the shell is a transparent shell, so that the materials in the material storage lifting mechanism can be seen clearly.
Specifically, in the material storage lifting mechanism: a vertical guide optical axis is arranged between the upper horizontal plate and the lower horizontal plate, and the material tray passes through the guide optical axis and can vertically move along the guide optical axis; specifically, the four guide optical axes are respectively arranged at four corners of the material tray;
The conveyor belt is connected with the material tray through a connecting block, the connecting block comprises a conveyor belt connecting part and a material tray connecting part which are all provided with U-shaped grooves, and the conveyor belt connecting part and the material tray connecting part are mutually perpendicular and the opening directions of the U-shaped grooves of the conveyor belt connecting part and the material tray connecting part are opposite; a connecting block is arranged on a conveyor belt sleeved between each group of upper output belt wheels and each group of lower output belt wheels, the conveyor belt connecting part of the connecting block is parallel to the conveyor belt, the conveyor belt is inserted into a U-shaped groove of the conveyor belt connecting part and is fixed, the tray connecting part of the connecting block is parallel to the tray, the edge of the tray is inserted into the U-shaped groove of the tray connecting part and is fixed, and the connecting block realizes the fixed connection between the conveyor belt and the tray; two connecting blocks are respectively connected to two sides of each material tray, two lower output belt pulleys corresponding to two conveyor belts connected with the corresponding two connecting blocks on two sides of the material tray are positioned at two ends of the same lower rotating shaft, and each material tray is driven to lift by one lifting driving unit or two lifting driving units simultaneously.
Specifically, the lifting driving unit comprises lifting motors arranged at the end parts of the lower rotating shafts, and the lifting motors are connected with the lower rotating shafts through lifting motor couplings.
Compared with the prior art, the invention has the beneficial technical effects that:
The steering wheel integrating driving and steering has the characteristics of flexible driving and steering and compact structural arrangement, and the requirement of high flexibility of the robot is met through the matched use of the single steering wheel and the double bearing wheels; in the design of the material storage lifting mechanism, the conveyer belt is symmetrically arranged on the material tray, so that the material tray is balanced in stress and stable in starting motion, the larger bearing capacity is obtained, the synchronous belt of a single material tray is driven by two lifting driving units, and the synchronism of the movement of the conveyer belt is ensured through the optical axes of the upper bottom surface and the lower bottom surface. The independent driving mode of the material trays can realize stacking of the material carrying trays, so that the arrangement is compact, and the internal space of the feeding mechanism is saved. The material storage lifting mechanism is completely positioned in the sealed shell, and the feeding and discharging door is arranged on the shell, so that the material tray is positioned in the sealed space.
And (II) the invention starts from the high flexibility required by the indoor carrying robot, and mainly researches an indoor high-flexibility meal delivery robot which has flexible movement and steering, can realize the sealed transportation of single multi-tray meal, is convenient to feed and take out and has a compact structure by taking the meal delivery service robot as a starting point. Starting from the structural design of the mechanical system of the meal delivery robot, the mechanical chassis and the feeding mechanism are designed independently by adopting a modularized design, so that the design difficulty and the development cost are reduced, and the feasibility of the design is improved.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic view of the invention with the housing removed;
FIG. 3 is a schematic view of the present invention with the housing removed;
FIG. 4 is a schematic view of a material storage lifting mechanism according to the present invention;
FIG. 5 is a schematic view of the installation structure of the middle connecting block of the present invention;
FIG. 6 is an enlarged view of a portion of the connection block of FIG. 5;
FIG. 7 is a schematic view of the structure of the connecting block of the material storage lifting mechanism of the present invention;
FIG. 8 is a schematic view of the installation structure of the lower horizontal plate in the material storage lifting mechanism of the invention;
FIG. 9 is a schematic view of a tray in the material storage lifting mechanism of the present invention;
FIG. 10 is a schematic view of the structure of the lift motor in the material storage lift mechanism of the present invention;
FIG. 11 is a schematic view of a gate structure according to the present invention;
FIG. 12 is a schematic view of steering wheel structure in the load bearing drive mechanism of the present invention;
Fig. 13 is a schematic view of the steering wheel frame structure in the steering wheel of the present invention.
The reference numerals in the figure are 1-material storage lifting mechanism, 2-shell, 3-material door and 4-bearing driving mechanism;
101-upper horizontal plates, 102-upper rotating shafts, 103-upper output pulleys, 104-lower horizontal plates, 105-lower rotating shafts, 106-lower output pulleys, 107-conveyor belts, 108-trays, 110-lifting driving units, 111-guiding optical axes, 112-connecting blocks, 113-lifting motors and 114-lifting motor couplings;
301-upper transmission shaft, 302-first synchronous belt pulley, 303-first overlapping gear, 304-material gate motor, 305-first transmission belt, 306-second overlapping gear, 307-second transmission belt, 308-third overlapping gear, 309-upper half gate, 310-fourth overlapping gear, 311-third transmission belt, 312-second synchronous belt pulley, 313-fifth overlapping gear, 314-fourth transmission belt, 315-third synchronous belt pulley, 316-lower half gate, 317-lower transmission shaft;
401-mounting plates, 402-steering wheels, 403-bearing wheels, 404-steering wheel frames, 405-driving wheels, 406-couplings, 407-steering wheel driving motors, 408-connecting shafts, 409-brakes, 410-steering wheel steering motors, 411-small pulleys, 412-transmission belts, 413-large pulleys and 414-turntable bearings.
Detailed Description
The following describes specific embodiments of the present invention in detail with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the invention, are not intended to limit the invention.
As shown in fig. 1 to 13, the present embodiment provides an indoor high-flexibility enclosed meal delivery robot, which comprises a material storage lifting mechanism 1, a shell 2 sleeved outside the material storage lifting mechanism 1, a material door 3 arranged on the shell 2, and a bearing driving mechanism 4 arranged below the material storage lifting mechanism 1; the material storage lifting mechanism 1 comprises an upper horizontal plate 101, a plurality of upper rotating shafts 102 which are arranged on the lower surface of the upper horizontal plate 101 and are parallel to each other, upper output pulleys 103 which are arranged at the two ends of each upper rotating shaft 102, a lower horizontal plate 104 which is parallel to and opposite to the upper horizontal plate 101 and is positioned right below the upper rotating shafts, a plurality of lower rotating shafts 105 which are arranged on the upper surface of the lower horizontal plate 104 and are in one-to-one correspondence with the upper rotating shafts 102, lower output pulleys 106 which are arranged at the two ends of each lower rotating shaft 105 and are in one-to-one correspondence with the upper output pulleys 103, a conveyor belt 107 which is sleeved on the corresponding upper output pulleys 103 and lower output pulleys 106, a material disc 108 which is fixed with the conveyor belt 107 and is positioned between the upper horizontal plate 101 and the lower horizontal plate 104, and a lifting driving unit 110 which is connected at the end part of the lower rotating shafts 105; the lifting driving unit 110 can drive the lower rotating shaft 105 to rotate, so as to sequentially drive the lower output belt pulley 106 to rotate, the conveyor belt 107 to drive and the tray 108 to lift; the load-bearing driving mechanism 4 comprises a mounting plate 401, a steering wheel 402 and a load-bearing wheel 403 which are arranged on the lower surface of the mounting plate 401, and the mounting plate 401 is fixed under the lower horizontal plate 104 in parallel through a support column.
In the embodiment, a steering wheel is used for driving the AGV, the steering wheel 402 comprises a steering wheel frame 404, and the steering wheel frame 404 comprises a horizontal plate, and a first vertical plate and a second vertical plate which are mutually parallel and are vertically fixed on the lower surface of the horizontal plate; the steering wheel 402 further includes a driving wheel 405 provided between the first riser and the second riser, a steering wheel driving motor 407 connected to one side of the driving wheel 405 through a coupling 406 and fixed to the outside of the first riser, a brake 409 connected to the other side of the driving wheel 405 through a connecting shaft 408 and fixed to the outside of the second riser, a steering wheel steering motor 410 fixed to the lower surface of the horizontal plate and having an output shaft penetrating above the lower surface, a small pulley 411 connected to the output shaft of the steering wheel steering motor 410 and located on the upper surface of the horizontal plate, a large pulley 413 connected to the small pulley 411 through a transmission belt 412 and fixed to the upper surface of the horizontal plate, and a turntable bearing 414 provided at the upper end of the large pulley 413; wherein the coupling 406 is subjected to torque; the inner ring of the turntable bearing 414 is fixed with the large belt wheel 413 and can rotate along with the large belt wheel 413, and the outer ring of the turntable bearing 414 is fixedly connected to the lower surface of the mounting plate 401 so as to realize the purpose that the steering wheel rotates and the chassis is unchanged in orientation; the brake 409 comprises a brake wheel and a friction disc connected with the brake wheel through a shaft and a key; two bearing wheels 403 are arranged, and the two bearing wheels 403 are arranged on the lower surface of the mounting plate 401; the two bearing wheels 403 and the steering wheel 402 are distributed in a triangle shape, so that the material storage lifting mechanism 1 is supported and driven.
In the present embodiment, the driving implementation process and principle of the load-bearing driving mechanism 4 are as follows: because the wheel type robot has better maneuvering performance, a wheel type structure is adopted as a driving mode of the robot, and the AGV is driven by steering wheels in consideration of different driving modes; the single steering wheel AGV generally adopts two or more driven wheels as auxiliary supports, and controls driving and steering through one steering wheel, so that the problem of motor coordination is not needed to be considered, and the single steering wheel AGV has the characteristics of simplicity in steering, high guiding reliability and the like; the design of the integrated steering wheel integrates driving and steering.
In the present embodiment, the braking of the load-bearing driving mechanism 4 is realized in the process and principle: specifically, in the present embodiment, the brake 409 is initially selected as a power-off brake, and is fixed to the steering wheel frame 404, and a friction plate thereon is connected to a shaft and a key for a brake wheel. During braking, the brake 409 is de-energized, the friction disc compresses, friction provides a braking torque, and the brake 409 can help the driving wheel 405 to complete the braking process through the friction disc as the friction disc is connected with the driving wheel 405 through the shaft;
In the present embodiment, the steering implementation process and principle of the load-bearing driving mechanism 4 are as follows: the steering of the whole machine is completed by steering the steering wheel 402 driven by the steering wheel steering motor 410, the output shaft of the steering wheel steering motor 410 is connected with a small belt pulley 411, a large belt pulley of belt transmission is connected with the steering wheel frame 404, the steering wheel steering motor 410 drives the small belt pulley to rotate, thereby driving the large belt pulley to rotate, and driving the whole steering wheel to rotate together; the drive motor, steering motor, brake, belt and drive wheel are all directly or indirectly connected to the steering wheel frame 404.
The side wall of the shell 2 in the embodiment is provided with a shell opening; the material door 3 comprises an upper transmission shaft 301 arranged on the inner wall of the shell 2 above the shell opening, a first synchronous belt pulley 302 and a first overlapping gear 303 arranged on two sides of the upper transmission shaft 301, a material door motor 304 connected with the first overlapping gear 303, a second overlapping gear 306 which is positioned below the first synchronous belt pulley 302 and is sleeved with a first transmission belt 305 together with the first synchronous belt pulley 302, a third overlapping gear 308 which is positioned below the first overlapping gear 303 and is sleeved with a second transmission belt 307 together with the first overlapping gear 303, an upper half door 309 fixed between the first transmission belt 305 and the second transmission belt 307, a fourth overlapping gear 310 meshed with the second overlapping gear 306, a second synchronous belt pulley 312 positioned below the fourth overlapping gear 310 and is sleeved with a third transmission belt 311 together with the fourth overlapping gear 310, a fifth overlapping gear 313 positioned below the fifth overlapping gear 313 and is sleeved with a fourth transmission belt 314 together with the fifth overlapping gear 313, a third synchronous belt pulley 315 fixed between the third transmission belt 305 and the third transmission belt 311 and the lower half door 315 fixed on the inner wall of the shell 2 and the lower transmission shaft 317 of the shell 312; specifically, in the present embodiment, the upper transmission shaft 301 and the lower transmission shaft 317 are fixed to the housing through bearing blocks; the gate motor 304 can drive the first overlapping gear 303 to rotate forward and backward, so as to drive the first driving belt 305 and the second driving belt 307 to drive the upper half gate 309 to move upward while the third driving belt 311 and the fourth driving belt 314 drive the lower half gate 316 to move downward, or drive the first driving belt 305 and the second driving belt 307 to drive the upper half gate 309 to move downward while the third driving belt 311 and the fourth driving belt 314 drive the lower half gate 316 to move upward, thereby realizing the opening and closing of the upper half gate 309 and the lower half gate 316. Each overlapping gear in the embodiment comprises a small gear and a large gear which are coaxially connected, the large gear of the second overlapping gear 306 is meshed with the large gear of the fourth overlapping gear 310 to realize steering and power transmission, and the small gears form synchronous belt transmission; the large gear of the third overlapping gear 308 is meshed with the large gear of the fifth overlapping gear 313 to realize steering and power transmission, and the small gears form synchronous belt transmission; the first driving belt 305 and the second driving belt 307 are positioned on two sides of the upper half door 309, the third driving belt 311 and the fourth driving belt 314 are positioned on two sides of the lower half door 316, the upper driving shaft 301 and the lower driving shaft 317 fix the whole material door 3 on the inner wall of the shell 2, and the upper half door 309 and the lower half door 316 can just block the shell opening in the closed state; this allows the upper half gate 309 and the lower half gate 316 to operate up and down through the transmission of the belt.
The casing 2 has a square cylindrical structure with an opening at the bottom, and more preferably, in the embodiment, the edges and corners of the casing 2 are in a curved arc design; the shell 2 can cover the material storage lifting mechanism 1, and the lower end of the shell 2 is in sealing connection with the edge of the mounting plate 401, so that the material in the material storage lifting mechanism 1 is stored in a closed mode.
In the material storage lifting mechanism 1: a vertical guide optical axis 111 is arranged between the upper horizontal plate 101 and the lower horizontal plate 104, and the tray 108 passes through the guide optical axis 111 and can vertically move along the guide optical axis 111; specifically, four guide optical axes 111 are respectively disposed at four corners of the tray 108;
the conveyor belt 107 is connected with the material tray 108 through a connecting block 112, the connecting block 112 comprises a conveyor belt connecting part and a material tray connecting part which are all provided with U-shaped grooves, the conveyor belt connecting part and the material tray connecting part are mutually perpendicular, and the opening directions of the U-shaped grooves of the conveyor belt connecting part and the material tray connecting part are opposite; a connecting block 112 is arranged on a conveyor belt 107 sleeved between each group of upper output belt wheels 103 and lower output belt wheels 106, the conveyor belt connecting part of the connecting block 112 is parallel to the conveyor belt 107, the conveyor belt 107 is inserted into a U-shaped groove of the conveyor belt connecting part and is fixed, a tray connecting part of the connecting block 112 is parallel to a tray 108, the edge of the tray 108 is inserted into the U-shaped groove of the tray connecting part and is fixed, and the connecting block 112 realizes the fixed connection between the conveyor belt 107 and the tray 108; two connecting blocks 112 are respectively connected to two sides of each tray 108, and two lower output pulleys 106 corresponding to two conveying belts 107 connected to the corresponding two connecting blocks 112 on two sides of the tray 108 are positioned at two ends of the same lower rotating shaft 105, so that each tray 108 is driven to lift by one lifting driving unit 110 or two lifting driving units 110 simultaneously.
Specifically, in the present embodiment, there are 8 upper rotating shafts 102 and 8 lower rotating shafts 105, which are in one-to-one correspondence with each other, and the power of the lifting motor 113 is uniformly transmitted to the lower rotating shafts 105 and the lower output pulleys 106 at both ends thereof, which are disposed close to the bearings in order to reduce the bending moment acting on the lower rotating shafts 105. Through the cooperation of the plurality of lifting motors 113, sequential stacking of the trays 108 after discharging can be realized, and the internal space of the material storage lifting mechanism is fully utilized; the lifting of the tray is indirectly realized by driving the conveyor belt through the lifting motor 113 and connecting the conveyor belt with the tray. The connecting block is connected with the conveyer belt and the charging tray bolt respectively, can realize motion and power transmission, and after the connecting block composite installation, because of the effect of no force in the axis direction, and the installation clearance of conveyer belt and charging tray is very little, has played spacing effect to the connecting block, in addition, this kind of mortise and tenon fourth of twelve earthly branches structure still has the convenience of installing and removing concurrently, bears great characteristics. In order to ensure that the material tray is uniformly stressed, the conveying belts are symmetrically arranged on two sides of the material tray, and eight conveying belts are respectively arranged on two sides of the material tray. Meanwhile, the speed synchronization performance of the conveyor belt is guaranteed through the guiding optical axes arranged on the upper bottom surface and the lower bottom surface.
The elevation driving unit 110 includes an elevation motor 113 provided at an end of each lower rotary shaft 105, and the elevation motor 113 is connected to the lower rotary shaft 105 through an elevation motor coupling 114.
The working process or principle of the invention is as follows: the material storage lifting mechanism 1 is completely positioned in a sealed shell 2, and the feeding and discharging door 3 is arranged on the shell 2, so that the steering wheel integrating driving and steering has the characteristics of flexible driving and steering and compact structural arrangement, and the requirement of high flexibility of the robot is met through the matched use of a single steering wheel and double bearing wheels; in the design of the material storage lifting mechanism 1, because the conveying belt 107 is symmetrically arranged on the material tray 108, the material tray 108 is stressed and balanced, the starting movement is stable, the larger bearing capacity is obtained, the synchronous belt of the single material tray 108 can be driven by two lifting driving units or one lifting driving unit, and the movement synchronism of the conveying belt 107 is ensured through the optical axes of the upper bottom surface and the lower bottom surface. This independent drive of the trays 108 enables stacking of trays to be achieved, resulting in a compact arrangement and saving of internal space in the feed mechanism. While also having the tray 108 in a sealed space.
The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the scope of the technical concept of the present invention, and all the simple modifications belong to the protection scope of the present invention.
In addition, the specific features described in the above embodiments may be combined in any suitable manner without contradiction. The various possible combinations of the invention are not described in detail in order to avoid unnecessary repetition.
Moreover, any combination of the various embodiments of the invention can be made without departing from the spirit of the invention, which should also be considered as disclosed herein.
Claims (3)
1. The indoor high-flexibility closed meal delivery robot is characterized by comprising a material storage lifting mechanism (1), a shell (2) sleeved outside the material storage lifting mechanism (1), a material door (3) arranged on the shell (2) and a bearing driving mechanism (4) arranged below the material storage lifting mechanism (1);
The material storage lifting mechanism (1) comprises an upper horizontal plate (101), a plurality of upper rotating shafts (102) which are arranged on the lower surface of the upper horizontal plate (101) and are parallel to each other, upper output pulleys (103) which are arranged at two ends of each upper rotating shaft (102), a lower horizontal plate (104) which is parallel to the upper horizontal plate (101) and is positioned right below the upper horizontal plate, a plurality of lower rotating shafts (105) which are arranged on the upper surface of the lower horizontal plate (104) and are in one-to-one correspondence with the upper rotating shafts (102), lower output pulleys (106) which are arranged at two ends of each lower rotating shaft (105) and are in one-to-one correspondence with the upper output pulleys (103), a conveyor belt (107) which is sleeved on the corresponding upper output pulleys (103) and lower output pulleys (106), a material disc (108) which is fixed with the conveyor belt (107) and is positioned between the upper horizontal plate (101) and the lower horizontal plate (104), and a lifting driving unit (110) which is connected at the end part of the lower rotating shafts (105); the lifting driving unit (110) can drive the lower rotating shaft (105) to rotate, so that the lower output belt wheel (106) is sequentially driven to rotate, the conveyor belt (107) is driven, and the material tray (108) is lifted;
The bearing driving mechanism (4) comprises a mounting plate (401), a steering wheel (402) and a bearing wheel (403) which are arranged on the lower surface of the mounting plate (401);
The steering wheel (402) comprises a steering wheel frame (404), wherein the steering wheel frame (404) comprises a horizontal plate, and a first vertical plate and a second vertical plate which are mutually parallel and are vertically fixed on the lower surface of the horizontal plate;
The steering wheel (402) further comprises a driving wheel (405) arranged between the first vertical plate and the second vertical plate, a steering wheel driving motor (407) connected to one side of the driving wheel (405) through a coupler (406) and fixed to the outer side of the first vertical plate, a brake (409) connected to the other side of the driving wheel (405) through a connecting shaft (408) and fixed to the outer side of the second vertical plate, a steering wheel steering motor (410) fixed to the lower surface of the horizontal plate and penetrating through the output shaft to the upper side of the lower surface, a small belt wheel (411) connected with the output shaft of the steering wheel steering motor (410) and positioned on the upper surface of the horizontal plate, a large belt wheel (413) connected with the small belt wheel (411) through a transmission belt (412) and a turntable bearing (414) arranged at the upper end of the large belt wheel (413);
The inner ring of the turntable bearing (414) is fixed with the large belt wheel (413) and can rotate along with the large belt wheel (413), and the outer ring of the turntable bearing (414) is fixedly connected to the lower surface of the mounting plate (401); the brake (409) comprises a brake wheel and a friction disc connected with the brake wheel through a shaft and a key;
Two bearing wheels (403) are arranged, and the two bearing wheels (403) are arranged on the lower surface of the mounting plate (401); the two bearing wheels (403) and the steering wheel (402) are distributed in a triangle shape, so that the material storage lifting mechanism (1) is supported and driven;
a shell opening is formed in the side wall of the shell (2); the material door (3) comprises an upper transmission shaft (301) arranged on the inner wall of the shell (2) above the opening of the shell, a first synchronous belt pulley (302) and a first overlapping gear (303) which are arranged at two sides of the upper transmission shaft (301), a material door motor (304) connected with the first overlapping gear (303), a second synchronous belt pulley (306) which is arranged below the first synchronous belt pulley (302) and is sleeved with a first transmission belt (305) together with the first synchronous belt pulley (302), a third overlapping gear (308) which is arranged below the first overlapping gear (303) and is sleeved with a second transmission belt (307) together with the first overlapping gear (303), an upper half door (309) which is fixed between the first transmission belt (305) and the second transmission belt (307), a fourth overlapping gear (310) which is meshed with the second overlapping gear (306), a second synchronous belt pulley (312) which is arranged below the fourth overlapping gear (310) and is sleeved with a third transmission belt (311) together with the fourth overlapping gear (310), a third overlapping gear (313) which is meshed with the fifth overlapping gear (313) and is arranged below the fifth overlapping gear (313), A lower half door (316) fixed between the third transmission belt (311) and the fourth transmission belt (314), and a lower transmission shaft (317) connected with the second synchronous belt pulley (312) and the third synchronous belt pulley (315) and arranged on the inner wall of the shell (2) below the shell opening; the material door motor (304) can drive the first overlapping gear (303) to rotate forwards and reversely, so that the first transmission belt (305) and the second transmission belt (307) drive the upper half door (309) to move upwards and simultaneously the third transmission belt (311) and the fourth transmission belt (314) drive the lower half door (316) to move downwards, or the first transmission belt (305) and the second transmission belt (307) drive the upper half door (309) to move downwards and simultaneously the third transmission belt (311) and the fourth transmission belt (314) drive the lower half door (316) to move upwards, and further the opening and the closing of the upper half door (309) and the lower half door (316) are realized;
in the material storage lifting mechanism (1): a vertical guide optical axis (111) is arranged between the upper horizontal plate (101) and the lower horizontal plate (104), and the tray (108) passes through the guide optical axis (111) and can vertically move along the guide optical axis (111); specifically, the four guide optical axes (111) are respectively arranged at four corners of the tray (108);
The conveyor belt (107) is connected with the material tray (108) through a connecting block (112), the connecting block (112) comprises a conveyor belt connecting part and a material tray connecting part which are all provided with U-shaped grooves, the conveyor belt connecting part and the material tray connecting part are mutually perpendicular, and the opening directions of the U-shaped grooves of the conveyor belt connecting part and the material tray connecting part are opposite; a connecting block (112) is arranged on a conveyor belt (107) sleeved between each group of upper output belt wheels (103) and each group of lower output belt wheels (106), the conveyor belt connecting part of the connecting block (112) is parallel to the conveyor belt (107), the conveyor belt (107) is inserted into a U-shaped groove of the conveyor belt connecting part and is fixed, the tray connecting part of the connecting block (112) is parallel to a tray (108), the edge of the tray (108) is inserted into the U-shaped groove of the tray connecting part and is fixed, and the connecting block (112) realizes the fixed connection between the conveyor belt (107) and the tray (108); two connecting blocks (112) are respectively connected to two sides of each material tray (108), two lower output belt wheels (106) corresponding to two conveying belts (107) connected with the corresponding two connecting blocks (112) positioned on two sides of the material tray (108) are positioned at two ends of the same lower rotating shaft (105), and each material tray (108) is driven to lift by one lifting driving unit (110) or two lifting driving units (110) simultaneously.
2. The indoor high-flexibility closed meal delivery robot according to claim 1, wherein the shell (2) is of a square cylinder structure with an opening at the bottom, the shell (2) can be covered outside the material storage lifting mechanism (1), the lower end of the shell (2) is in sealing connection with the edge of the mounting plate (401), and the closed storage of materials in the material storage lifting mechanism (1) is realized; the shell (2) is a transparent shell, so that the materials in the material storage lifting mechanism (1) can be seen clearly.
3. The indoor high flexibility enclosed meal delivery robot as claimed in claim 1, wherein the elevation driving unit (110) includes an elevation motor (113) provided at an end of each lower rotary shaft (105), the elevation motor (113) being connected to the lower rotary shaft (105) through an elevation motor coupling (114).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910991356.9A CN110919663B (en) | 2019-10-18 | 2019-10-18 | Indoor high-flexibility closed meal delivery robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910991356.9A CN110919663B (en) | 2019-10-18 | 2019-10-18 | Indoor high-flexibility closed meal delivery robot |
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| CN110919663B true CN110919663B (en) | 2024-05-31 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022105815A1 (en) * | 2020-11-23 | 2022-05-27 | 深圳市普渡科技有限公司 | Food delivery robot |
| CN112947432A (en) * | 2021-02-03 | 2021-06-11 | 浙江亿控自动化设备有限公司 | Three-steering wheel control algorithm |
| CN113021381A (en) * | 2021-04-26 | 2021-06-25 | 北京云迹科技有限公司 | Delivery robot |
| CN116022265A (en) * | 2022-09-01 | 2023-04-28 | 福建汉特云智能科技有限公司 | Contactless robot |
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