CN208946183U - A kind of meal delivery robot - Google Patents
A kind of meal delivery robot Download PDFInfo
- Publication number
- CN208946183U CN208946183U CN201821601509.1U CN201821601509U CN208946183U CN 208946183 U CN208946183 U CN 208946183U CN 201821601509 U CN201821601509 U CN 201821601509U CN 208946183 U CN208946183 U CN 208946183U
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- CN
- China
- Prior art keywords
- bracket
- gripper
- meal delivery
- delivery robot
- mobile device
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Abstract
The utility model discloses a kind of meal delivery robots, including mobile device, bracket and transmission bracket, the bracket and the transmission bracket are arranged in the mobile device, told bracket is equipped with the supporting plate that multiple vertical directions are arranged above and below, the service plate that food is housed is placed on the supporting plate, the transmission bracket is arranged on rear side of the supporting plate, the transfer for driving it to turn to is equipped with below the transmission bracket, the transmission bracket is equipped with the clamp device for driving it to go up and down in the vertical direction by lifting device, the clamp device is equipped with the gripper for clamping the service plate equipped with food.After meal delivery robot described in the utility model determines target dining table, mobile device drives meal delivery robot to reach target dining table, clamp device can be driven to move between each supporting plate and target dining table by transfer and lifting device, can accurately complete clamping service plate and food delivery, rapidly and efficiently.
Description
Technical field
The utility model relates to service robot technical fields, are related to a kind of meal delivery robot.
Background technique
As national life level and the level of consumption are also being greatly improved, lead to constantly improve for food and beverage sevice, mesh
The preceding country has many dining rooms to start robot room service on probation.But meal delivery robot on the market can not be accurately to target
Dining table food delivery can only once send primary meal, then proceed to pick-up and send again, and which results in inefficient and increase client's
Waiting time affects business, and practical significance is little.
Utility model content
Insufficient according to prior art, the purpose of the utility model is to provide a kind of meal delivery robots, can be once to more
A target dining table carries out food delivery, substantially increases food delivery efficiency.
In order to solve the above-mentioned technical problem, the technical solution adopted in the utility model are as follows:
A kind of meal delivery robot, including mobile device, bracket and transmission bracket, the bracket and transmission bracket setting
In the mobile device, told bracket is equipped with the supporting plate that multiple vertical directions are arranged above and below, and places and is equipped on the supporting plate
The service plate of food, the transmission bracket are arranged on rear side of the supporting plate, described to transmit turn for being equipped with below bracket and it being driven to turn to
To device, the transmission bracket is equipped with the clamp device for driving it to go up and down in the vertical direction by lifting device, the folder
Device is taken to be equipped with the gripper for clamping the service plate equipped with food, after determining meal delivery robot target dining table, mobile device
Drive meal delivery robot to reach target dining table, clamp device can be driven in each supporting plate by transfer and lifting device and
It is moved between target dining table, completes clamping service plate and food delivery.
Further, the mobile device is moving trolley.
Further, the transfer includes turbine and steering motor, and the transmission branch is erected on the turbine, institute
The output shaft for stating steering motor is equipped with the worm screw engaged with the turbine, and the steering motor is turned by the worm screw of driving thereon
It is dynamic to drive the turbine rotation, and then the transmission bracket is driven to turn to.
Further, the lifting device is ball screw framework, and the ball screw framework includes lead screw, lead screw spiral shell
Female, sliding block and spindle motor, the lead screw vertical direction setting, the sliding block are mounted on the lead screw by the feed screw nut
On, the clamp device is set on the slide block, and the output shaft of the spindle motor is connect with the lead screw, the spindle motor
By driving the lead screw rotation to drive gripper lifting on the clamp device and the clamp device.
Further, the clamp device is equipped with gripper pedestal and steering engine, and a pair of of gripper is mounted on the machinery
On pawl pedestal, at least one gripper is connected with the transmission of the outputting axial power of steering engine, controls gripper by the steering engine and opens
Or closure.
Further, pass through two pitch wheel connections between a pair of gripper.
Further, multiple supporting plate vertical directions on the bracket equidistantly arrange.
Further, master controller is equipped in the mobile device, the master controller is single-chip microcontroller, the single-chip microcontroller control
It makes the mobile device movement, spindle motor rotation and the pair of gripper opens or closure.
Compared with prior art, the utility model has the following advantages and beneficial effects:
1. a kind of meal delivery robot described in the utility model, clamp device using a pair of of gripper, and by steering engine and
Gear controls the opening and closing to gripper, clamping service plate that can be more stable, improves working efficiency.
2. a kind of meal delivery robot described in the utility model once can carry out food delivery to multiple target dining tables, significantly
Improve food delivery efficiency.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the utility model.
Fig. 2 is the structural schematic diagram of one angle of the utility model.
Fig. 3 is the structural schematic diagram of the utility model lifting device.
Fig. 4 is the structural schematic diagram of the utility model transfer.
Fig. 5 is the structural schematic diagram of the utility model clamp device.
Wherein, 1, mobile device；
2, bracket；21, supporting plate；22, service plate；
3, bracket is transmitted；31, transfer；311, turbine；312, steering motor；313, worm screw；32, lifting device；
321, lead screw；322, feed screw nut；323, sliding block；324, spindle motor；325, linear guide；33, clamp device；331, mechanical
Pawl；332, steering engine；333, gear；334, gripper pedestal.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
In the description of the present invention, it should be understood that term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of describing the present invention and simplifying the description, rather than indicate
Or imply that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot understand
For limitations of the present invention.In addition, term " first ", " second " etc. are used for description purposes only, and should not be understood as indicating
Or it implies relative importance or implicitly indicates the quantity of indicated technical characteristic." first ", " second " etc. are defined as a result,
Feature can explicitly or implicitly include one or more of the features.In the description of the invention, unless separately
It is described, the meaning of " plurality " is two or more.
As Figure 1-Figure 5, a kind of meal delivery robot, including mobile device 1, bracket 2 and transmission bracket 3, bracket 2 and biography
Send the setting of bracket 3 on the mobile device 1, in the utility model, mobile device 1 is the moving trolley there are four scroll wheel.Bracket 2
It fixes on the mobile device 1, bracket 2 is the plate structure of vertical direction and is equipped with reinforcing rib between mobile device 1.On bracket 2
Equipped with the supporting plate 21 that multiple vertical directions are arranged above and below, 21 vertical direction of multiple supporting plates is equidistantly arranged.Dress is placed on supporting plate 21
There is 22 (not shown) of service plate of food, the setting of transmission bracket 3 is equipped with below 21 rear side of supporting plate, transmission bracket 3 and drives it
The transfer 31 of steering, transmission bracket 3 are equipped with the clamping dress for driving it to go up and down in the vertical direction by lifting device 32
33 are set, clamp device 33 is equipped with the gripper 331 for clamping the service plate 22 equipped with food, determines that meal delivery robot target is eaten
After table, mobile device 1 drives meal delivery robot to reach target dining table, can drive folder by transfer 31 and lifting device 32
It takes device 33 to move between each supporting plate 21 and target dining table, completes clamping service plate 22 and food delivery.
As shown in Figure 1-Figure 3, transmission bracket 3 is equipped with lifting device 32, and lifting device 32 is ball screw framework, ball
Screw mechanism includes lead screw 321,322 (not shown) of feed screw nut, sliding block 323 and spindle motor 324, and lead screw 321 is vertical
Direction setting, sliding block 323 are mounted on lead screw 321 by 322 (not shown) of feed screw nut, and clamp device 33 is located at sliding block
On 323.321 two sides of lead screw are equipped with the opposite symmetrical linear guide 325 of lead screw, and 323 two sides of sliding block are connect with linear guide 325,
Using linear guide 325 can high-precision control lifting, and wearability is high, and stability is strong.The trapezoidal silk that screw rod 321 uses
Bar, more accurate stabilization.Spindle motor 324 be located at 321 lower end of lead screw be fixed on transmission 3 bottom of bracket, spindle motor 324 it is defeated
Shaft is connect with lead screw 321, and spindle motor 324 is moved up and down by the driving rotation band movable slider 323 of lead screw 321, and then is driven
Clamp device 33 moves up and down, to make 331 oscilaltion of gripper on clamp device 33.
As shown in Figure 1, Figure 2 and Figure 4, transfer 31 is located at transmission 3 bottom of bracket and transmits the steering of bracket 3 for driving,
Transfer 31 includes turbine 311 and steering motor 312, and transmission bracket 3 is located on turbine 311, the output shaft of steering motor 312
It is equipped with the worm screw 313 engaged with turbine 311, steering motor 312 drives turbine 311 by the rotation of worm screw 313 of driving thereon
Rotation, and then transmission bracket 3 is driven to turn to.311 two sides of turbine are equipped with cylindrical roller thrust bearing, and cylindrical roller thrust bearing has
Conducive to the rotation of turbine 311, the friction of entire mechanism is reduced, and cylindrical roller thrust bearing can bear biggish radial force, make
Meal delivery robot mobile device 1 can sustain the gravity of transmission bracket 3.
As shown in Figure 1, Figure 2 and shown in Fig. 5, clamp device 33 is located on sliding block 323, and clamp device 33 is equipped with gripper pedestal
334 and steering engine 332, a pair of of gripper 331 be mounted on gripper pedestal 334, at least one gripper 331 and steering engine 332
Outputting axial power transmission is connected, and controls the opening of gripper 331 or closure by steering engine 332.In the utility model, a pair of of gripper
It is connected, the opening of gripper 331 is controlled by a steering engine 332 or closed by two pitch wheels 333 between 331
It closes, and then another gripper 331 is driven to open or be closed.
In the utility model, master controller (not shown) is equipped in mobile device 1, master controller is single-chip microcontroller, single
Piece machine controls the movement of mobile device 1, the rotation of spindle motor 324 and steering engine 332 and moves, and then controls a pair of of gripper 331 and open
Or closure.
In the utility model, 1 front of mobile device can be equipped with laser probe, and mobile device 1 is carried out by laser probe
Navigation, and feed back to the master controller in mobile device 1.
In the utility model, multiple infrared sensors and multiple reflective infrared sensings are can be set in 1 bottom of mobile device
Device, infrared sensor face ground help meal delivery robot correctly to move ahead for perceiving path position.Reflection infrared sensor
Forward object is hindered for detecting.
Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention, it is not limited to this
Utility model, although the utility model is described in detail with reference to the foregoing embodiments, for those skilled in the art
For, it is still possible to modify the technical solutions described in the foregoing embodiments, or to part of technical characteristic
It is equivalently replaced, within the spirit and principle of the utility model, any modification, equivalent replacement, improvement and so on,
It should be included within the scope of protection of this utility model.
Claims (8)
1. a kind of meal delivery robot, it is characterised in that: including mobile device, bracket and transmission bracket, the bracket and the biography
Bracket is sent to be arranged in the mobile device, told bracket is equipped with the supporting plate that multiple vertical directions are arranged above and below, the supporting plate
Upper to place the service plate that food is housed, the transmission bracket is arranged on rear side of the supporting plate, and driving is equipped with below the transmission bracket
Its transfer turned to, the transmission bracket is equipped with to be filled by the clamping that lifting device drives it to go up and down in the vertical direction
It sets, the clamp device is equipped with the gripper for clamping the service plate equipped with food, after determining meal delivery robot target dining table,
Mobile device drives meal delivery robot to reach target dining table, clamp device can be driven each by transfer and lifting device
It is moved between a supporting plate and target dining table, completes clamping service plate and food delivery.
2. a kind of meal delivery robot according to claim 1, it is characterised in that: the mobile device is moving trolley.
3. a kind of meal delivery robot according to claim 1, it is characterised in that: the transfer includes turbine and steering
Motor, the transmission branch are erected on the turbine, and the output shaft of the steering motor is equipped with the snail engaged with the turbine
Bar, the steering motor drives the turbine rotation by the worm screw rotation of driving thereon, and then the transmission bracket is driven to turn
To.
4. a kind of meal delivery robot according to claim 3, it is characterised in that: the lifting device is ball-screw machine
Structure, the ball screw framework include lead screw, feed screw nut, sliding block and spindle motor, and the lead screw vertical direction setting is described
Sliding block is mounted on the lead screw by the feed screw nut, and the clamp device is set on the slide block, the spindle motor
Output shaft connect with the lead screw, the spindle motor is by driving lead screw rotation to drive the clamp device and described
Gripper is gone up and down on clamp device.
5. a kind of meal delivery robot according to claim 4, it is characterised in that: the clamp device is equipped with gripper base
Seat and steering engine, a pair of of gripper are mounted on the gripper pedestal, and the outputting axial power of at least one gripper and steering engine passes
It is dynamic to be connected, gripper opening or closure are controlled by the steering engine.
6. a kind of meal delivery robot according to claim 5, it is characterised in that: pass through two phases between a pair of gripper
Intermeshed gear connection.
7. a kind of meal delivery robot according to claim 1, it is characterised in that: multiple supporting plates on the bracket are square vertically
To equidistant arrangement.
8. a kind of meal delivery robot according to claim 5, it is characterised in that: be equipped with main control in the mobile device
Device, the master controller are single-chip microcontroller, and the single-chip microcontroller controls the mobile device movement, spindle motor rotation and a pair
The gripper opens or closure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821601509.1U CN208946183U (en) | 2018-09-29 | 2018-09-29 | A kind of meal delivery robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821601509.1U CN208946183U (en) | 2018-09-29 | 2018-09-29 | A kind of meal delivery robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208946183U true CN208946183U (en) | 2019-06-07 |
Family
ID=66740231
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821601509.1U Expired - Fee Related CN208946183U (en) | 2018-09-29 | 2018-09-29 | A kind of meal delivery robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208946183U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110919663A (en) * | 2019-10-18 | 2020-03-27 | 长安大学 | Indoor high-flexibility enclosed food delivery robot |
| CN113305859A (en) * | 2021-06-11 | 2021-08-27 | 江苏食品药品职业技术学院 | Robot for hotel fast food delivery and use method thereof |
| CN114055486A (en) * | 2021-11-03 | 2022-02-18 | 杭州中芯微电子有限公司 | Meal delivery robot and meal delivery method |
| CN116872230A (en) * | 2023-08-13 | 2023-10-13 | 山东省核与辐射安全监测中心 | Multifunctional detection operation robot under radiation environment |
-
2018
- 2018-09-29 CN CN201821601509.1U patent/CN208946183U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110919663A (en) * | 2019-10-18 | 2020-03-27 | 长安大学 | Indoor high-flexibility enclosed food delivery robot |
| CN110919663B (en) * | 2019-10-18 | 2024-05-31 | 长安大学 | Indoor high-flexibility closed meal delivery robot |
| CN113305859A (en) * | 2021-06-11 | 2021-08-27 | 江苏食品药品职业技术学院 | Robot for hotel fast food delivery and use method thereof |
| CN114055486A (en) * | 2021-11-03 | 2022-02-18 | 杭州中芯微电子有限公司 | Meal delivery robot and meal delivery method |
| CN116872230A (en) * | 2023-08-13 | 2023-10-13 | 山东省核与辐射安全监测中心 | Multifunctional detection operation robot under radiation environment |
| CN116872230B (en) * | 2023-08-13 | 2023-11-28 | 山东省核与辐射安全监测中心 | Multifunctional detection operation robot under radiation environment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190607 Termination date: 20210929 |