CN211137163U

CN211137163U - Indoor high-flexibility enclosed food delivery robot

Info

Publication number: CN211137163U
Application number: CN201921762209.6U
Authority: CN
Inventors: ***; 陈凯; 李瑞丹; 杨康; 陈家硕; 李敬
Original assignee: Changan University
Current assignee: Changan University
Priority date: 2019-10-18
Filing date: 2019-10-18
Publication date: 2020-07-31
Anticipated expiration: 2029-10-18

Abstract

The utility model discloses an indoor high flexibility enclosed type food delivery robot, including material storage elevating system, cover the casing outside material storage elevating system, establish the bin gate on the casing and install the bearing actuating mechanism in material storage elevating system below. The material storage lifting mechanism comprises an upper horizontal plate, an upper rotating shaft, an upper output belt wheel, a lower horizontal plate, a lower rotating shaft, a lower output belt wheel, a conveying 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 as to sequentially drive the lower output belt wheel to rotate, the conveying belt to transmit and the material tray to lift; 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 utility model discloses the drive turns to nimble, structural arrangement is compact, and material storage elevating system is in sealed casing, makes the charging tray be in sealed space, can realize sealed transportation, the pay-off of the many dishes of single food and get the material convenience.

Description

Indoor high-flexibility enclosed food delivery robot

Technical Field

The utility model belongs to the field of machinery, concretely relates to indoor high flexibility enclosed food delivery robot especially has high flexibility indoor, and the drive turns to nimble, transportation environment confined food delivery robot.

Background

Although some food delivery robot products are put into use in the market, the problems of fixed driving track, less transported food, exposed food and the like generally exist.

Disclosure of Invention

Defect and not enough to among the prior art, the utility model provides an indoor high flexibility enclosed type food delivery robot overcomes current food delivery robot and traveles the orbit fixed, and the flexibility is lower, the inefficiency scheduling problem of food delivery.

In order to achieve the purpose, the utility model adopts the following technical proposal:

an indoor high-flexibility closed food 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 parallel to each other and are arranged on the lower surface of the upper horizontal plate, upper output belt wheels which are arranged at two ends of each upper rotating shaft, a lower horizontal plate which is parallel to and opposite to the upper horizontal plate and is positioned right below the upper horizontal plate, a plurality of lower rotating shafts which are arranged on the upper surface of the lower horizontal plate and correspond to the upper rotating shafts one by one, lower output belt wheels which are arranged at two ends of each lower rotating shaft and correspond to the upper output belt wheels one by one, conveying belts which are sleeved on the corresponding upper output belt wheels and the lower output belt wheels, a material tray which is fixed with the conveying belts and is positioned between the upper horizontal plate and the lower horizontal; the lifting driving unit can drive the lower rotating shaft to rotate, so that the lower output belt wheel, the conveying belt and the material tray are driven to rotate, and lift is performed on the material tray;

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 utility model discloses still include following technical characteristic:

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 vertically fixed on the lower surface of the horizontal plate and are parallel to each other;

the steering wheel also comprises a driving wheel arranged between the first vertical plate and the second vertical plate, a steering wheel driving motor which is connected to one side of the driving wheel through a coupling and is fixed on the outer side of the first vertical plate, a brake which is connected to the other side of the driving wheel through a connecting shaft and is fixed on the outer side of the second vertical plate, a steering wheel steering motor which is fixed on the lower surface of the horizontal plate and an output shaft of which penetrates above the lower surface, a small belt wheel which is connected with the output shaft of the steering wheel steering motor and is positioned on the upper surface of the horizontal plate, a large belt wheel which is connected with the small belt wheel through a transmission belt and is fixed on;

the inner ring of the turntable bearing is fixed with the large belt wheel and can rotate along with the large belt wheel, 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; two bearing wheels and a steering wheel are arranged in a triangular 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 overlapped gear which are arranged on two sides of the upper transmission shaft, a material door motor connected with the first overlapped gear, a second overlapped 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 overlapped gear which is arranged below the first overlapped gear and is sleeved with a second transmission belt together with the first overlapped gear, an upper half door fixed between the first transmission belt and the second transmission belt, a fourth overlapped gear meshed with the second overlapped gear, a second synchronous belt pulley which is arranged below the fourth overlapped gear and is sleeved with a third transmission belt together with the fourth overlapped gear, a fifth overlapped gear meshed with the third overlapped gear, a third synchronous belt pulley which is arranged below the fifth overlapped gear and is sleeved with a fourth transmission belt together with the fifth overlapped gear, a second synchronous belt pulley, a third synchronous belt pulley, a second overlapped gear, a third synchronous belt pulley and a fourth transmission belt are arranged below the fifth overlapped gear, The lower half door is fixed between the third transmission belt and the fourth transmission belt, and the lower transmission shaft is connected with the second synchronous belt pulley and the third synchronous belt pulley and arranged on the inner wall of the shell below the opening of the shell; the bin gate motor can drive corotation and reversal of the first overlapped gear, so that the first transmission belt and the second transmission belt are driven to drive the upper half gate to move upwards, the third transmission belt and the fourth transmission belt drive the lower half gate to move downwards, or the first transmission belt and the second transmission belt drive the upper half gate to move downwards, the third transmission belt and the fourth transmission belt drive the lower half gate to move upwards, and opening and closing of the upper half gate and the lower half gate are achieved.

Specifically, the shell is of a square cylindrical structure with an opening at the bottom, the shell can cover the material storage lifting mechanism, and the lower end of the shell is hermetically connected with the edge of the mounting plate, so that the closed storage of materials in the material storage lifting mechanism is realized; the shell is a transparent shell, so that materials in the material storage lifting mechanism can be seen clearly.

Specifically, among the material storage elevating system: a vertical guide optical axis is arranged between the upper horizontal plate and the lower horizontal plate, and the charging tray passes through the guide optical axis and can vertically move along the guide optical axis; specifically, four guide optical axes are arranged at four corners of the material tray respectively;

the conveying belt is connected with the material tray through a connecting block, the connecting block comprises a conveying belt connecting part and a material tray connecting part, both of which are provided with U-shaped grooves, the conveying belt connecting part and the material tray connecting part are mutually vertical, and the opening directions of the U-shaped grooves of the conveying belt connecting part and the material tray connecting part are opposite; a connecting block is arranged on the conveyor belt sleeved between each upper output belt wheel and each lower output belt wheel, the conveyor belt connecting part of each connecting block is parallel to the conveyor belt, the conveyor belt is inserted into the U-shaped groove of the conveyor belt connecting part and is fixed, the material tray connecting part of each connecting block is parallel to the material tray, the edge of the material tray is inserted into the U-shaped groove of the material tray connecting part and is fixed, and the connecting block realizes the fixed connection between the conveyor belt and the material tray; two connecting blocks are respectively connected to two sides of each material tray, and two lower output belt wheels corresponding to two conveying belts connected with the two corresponding connecting blocks positioned on two sides of each material tray are positioned at two ends of a same lower rotating shaft, so that each material tray is driven to ascend and descend by one lifting driving unit or two lifting driving units.

Specifically, the lifting driving unit comprises a lifting motor arranged at the end part of each lower rotating shaft, and the lifting motor is connected with the lower rotating shaft through a lifting motor coupler.

Compared with the prior art, the utility model, profitable technological effect is:

the steering wheel integrating driving and steering has the characteristics of flexible driving and steering and compact structural arrangement, and meets the requirement of high flexibility of the robot by matching and using a single steering wheel and double bearing wheels; in the design of material storage elevating system, because of the conveyer belt symmetrical arrangement in the charging tray, the charging tray atress is balanced, and the start motion is steady to obtain bigger bearing capacity, and the hold-in range of single charging tray is driven by two lift drive units, and the synchronism of conveyer belt motion has then obtained the assurance through upper and lower bottom surface optical axis. The independent driving mode of the material trays can realize the 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 arranged in a sealed shell, and a feeding and discharging door is arranged on the shell to ensure that the material tray is arranged in a sealed space.

(II) the utility model discloses from the required high flexibility that possesses of indoor fortune robot start to food delivery service robot is as the point of hand, and the important research goes out motion and turns to nimble, can realize sealed transportation, the pay-off of single polydisc meal article and get the indoor high flexibility food delivery robot of material convenience, compact structure. From the structural design of the food delivery robot mechanical system, the modular design is adopted, the mechanical chassis and the feeding mechanism are designed independently, the design difficulty and the development cost are reduced, and the design feasibility is improved.

Drawings

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

FIG. 2 is a schematic structural view of the present invention with the housing removed;

FIG. 3 is a schematic structural view of the present invention with the housing removed;

fig. 4 is a schematic structural view of the material storage lifting mechanism of the present invention;

fig. 5 is a schematic view of the mounting 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 structural view of a connecting block in 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 present invention;

fig. 9 is a schematic structural view of a material tray in the material storage lifting mechanism of the present invention;

fig. 10 is a schematic structural view of a lifting motor in the material storage lifting mechanism of the present invention;

fig. 11 is a schematic structural view of the material door of the present invention;

fig. 12 is a schematic structural view of a steering wheel in the load-bearing driving mechanism of the present invention;

fig. 13 is a schematic structural view of a rudder wheel frame in a rudder wheel according to the present invention.

In the figure, the reference numbers are 1-a material storage lifting mechanism, 2-a shell, 3-a material door and 4-a bearing driving mechanism;

101-upper horizontal plate, 102-upper rotating shaft, 103-upper output belt wheel, 104-lower horizontal plate, 105-lower rotating shaft, 106-lower output belt wheel, 107-conveying belt, 108-material tray, 110-lifting drive unit, 111-guiding optical shaft, 112-connecting block, 113-lifting motor and 114-lifting motor coupler;

301-upper drive shaft, 302-first synchronous belt pulley, 303-first overlapping gear, 304-bin gate motor, 305-first drive belt, 306-second overlapping gear, 307-second drive belt, 308-third overlapping gear, 309-upper half gate, 310-fourth overlapping gear, 311-third drive belt, 312-second synchronous belt pulley, 313-fifth overlapping gear, 314-fourth drive belt, 315-third synchronous belt pulley, 316-lower half gate, 317-lower drive shaft;

401-mounting plate, 402-steering wheel, 403-bearing wheel, 404-steering wheel frame, 405-driving wheel, 406-coupling, 407-steering wheel driving motor, 408-connecting shaft, 409-brake, 410-steering wheel steering motor, 411-small belt wheel, 412-transmission belt, 413-large belt wheel and 414-turntable bearing.

Detailed Description

The following detailed description of the embodiments of the present invention will be made with reference to the accompanying drawings. It is to be understood that the description of the embodiments herein is for purposes of illustration and explanation only and is not intended to limit the invention.

As shown in fig. 1 to 13, the present embodiment provides an indoor high-flexibility closed food delivery robot, which includes a material storage lifting mechanism 1, a housing 2 sleeved outside the material storage lifting mechanism 1, a material door 3 disposed on the housing 2, and a bearing driving mechanism 4 installed 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 parallel to each other and are arranged on the lower surface of the upper horizontal plate 101, upper output belt pulleys 103 which are arranged at 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 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 belt 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 belt pulleys 103, conveying belts 107 which are sleeved on the corresponding upper output belt pulleys 103 and lower output belt pulleys 106, material trays 108 which are fixed with the conveying belts 107 and are positioned between the upper horizontal; the lifting driving unit 110 can drive the lower rotating shaft 105 to rotate, so as to sequentially drive the lower output belt wheel 106 to rotate, the conveying belt 107 to drive and the material tray 108 to lift; 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, and the mounting plate 401 is fixed under the lower horizontal plate 104 in parallel through a support column.

In the present embodiment, the AGV is driven by a steering wheel, the steering wheel 402 includes a steering wheel frame 404, the steering wheel frame 404 includes a horizontal plate and a first vertical plate and a second vertical plate which are vertically fixed on the lower surface of the horizontal plate and are parallel to each other; 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 coupling 406 and fixed on 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 on the outer side of the second vertical plate, a steering wheel turning motor 410 fixed on the lower surface of the horizontal plate and having an output shaft penetrating above the lower surface, a small belt pulley 411 connected with the output shaft of the steering wheel turning motor 410 and located on the upper surface of the horizontal plate, a large belt pulley 413 connected with the small belt pulley 411 through a transmission belt 412 and fixed on the upper surface of the horizontal plate, and a turntable bearing 414 arranged at; wherein the coupling 406 is subject 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 that the purpose that the steering wheel rotates and the direction of the chassis is unchanged is achieved; 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 on the lower surface of the mounting plate 401; the two bearing wheels 403 and the steering wheel 402 are arranged in a triangular shape, so that the material storage lifting mechanism 1 is supported and driven.

In this embodiment, the driving implementation process and principle of the bearing driving mechanism 4 are as follows: because the wheeled robot has better maneuvering performance, a wheeled structure is adopted as a driving mode of the robot, and the AGV is driven by a steering wheel in consideration of different driving modes; the AGV with the single steering wheel generally adopts two or more driven wheels as auxiliary supports, and controls driving and steering through the steering wheel, so that the problem of motor matching is not needed to be considered, and the AGV has the characteristics of simple steering, high guiding reliability and the like, wherein the specific form is that the steering wheel is distributed on the front half part of the symmetrical center line of the chassis, and two bearing wheels 403 fixed in the two directions are symmetrically distributed on the rear half part of the chassis; the design of the integrated steering wheel integrates driving and steering.

In this embodiment, the brake implementation process and principle of the load bearing drive mechanism 4 are as follows: specifically, in this embodiment, brake 409 is initially selected to be a dead-man brake that is fixed to the steering wheel frame 404 and has friction disks that are coupled to the brake wheel by a shaft and key. During braking, the brake 409 is powered off, the friction discs are compressed, the friction force provides braking torque, and the brake 409 can help the driving wheel 405 to complete the braking process through the friction discs as the friction discs are connected with the driving wheel 405 through the shaft;

in this 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 the steering of a steering wheel 402 driven by a steering wheel steering motor 410, the output shaft of the steering wheel steering motor 410 is connected with a belt-driven small belt wheel 411, a belt-driven large belt wheel is connected with a steering wheel frame 404, and the steering wheel steering motor 410 drives the small belt wheel to rotate, so that the large belt wheel is driven to rotate, and the whole steering wheel is driven to rotate together; the drive motor, steering motor, brake, transmission belt and drive wheels are connected directly or indirectly to the steering wheel frame 404.

The side wall of the shell 2 in the embodiment is provided with a shell opening; the charging 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 overlapped gear 303 arranged on two sides of the upper transmission shaft 301, a charging door motor 304 connected with the first overlapped gear 303, a second overlapped gear 306 arranged below the first synchronous belt pulley 302 and sleeved with a first transmission belt 305 together with the first synchronous belt pulley 302, a third overlapped gear 308 arranged below the first overlapped gear 303 and sleeved with a second transmission belt 307 together with the first overlapped gear 303, an upper half door 309 fixed between the first transmission belt 305 and the second transmission belt 307, a fourth overlapped gear 310 meshed with the second overlapped gear 306, a second synchronous belt pulley 312 arranged below the fourth overlapped gear 310 and sleeved with a third transmission belt 311 together with the fourth overlapped gear 310, a fifth overlapped gear 313 meshed with the third overlapped gear 308, a third synchronous belt pulley 313 arranged below the fifth overlapped gear 313 and sleeved with a fourth transmission belt 314 together with the fifth overlapped gear 313 A wheel 315, 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 opening of the shell; specifically, in the present embodiment, the upper transmission shaft 301 and the lower transmission shaft 317 are fixed on the housing through bearing seats; the gate motor 304 can drive the first overlapping gear 303 to rotate forward and backward, so as to drive the first transmission belt 305 and the second transmission belt 307 to drive the upper half gate 309 to move upward, and simultaneously drive the third transmission belt 311 and the fourth transmission belt 314 to drive the lower half gate 316 to move downward, or drive the upper half gate 309 to move downward, simultaneously drive the third transmission belt 311 and the fourth transmission belt 314 to drive the lower half gate 316 to move upward, and further open and close 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 and the large gear of the fifth overlapping gear 313 are engaged to realize steering and power transmission, and the small gear forms synchronous belt transmission; the first transmission belt 305 and the second transmission belt 307 are positioned on two sides of the upper half door 309, the third transmission belt 311 and the fourth transmission belt 314 are positioned on two sides of the lower half door 316, the upper transmission shaft 301 and the lower transmission 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 a closed state; this allows the upper door half 309 and the lower door half 316 to operate up and down by the transmission of the belt.

The shell 2 is a square cylindrical structure with an opening at the bottom, and more preferably, in the embodiment, the corners of the shell 2 are designed in a curved arc shape; the shell 2 can cover the material storage lifting mechanism 1, and the lower end of the shell 2 is connected with the edge of the mounting plate 401 in a sealing mode, so that the closed storage of materials in the material storage lifting mechanism 1 is realized.

Among the material storage elevating system 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 provided, and are respectively arranged at four corners of the tray 108;

the conveying belt 107 is connected with the material tray 108 through a connecting block 112, the connecting block 112 comprises a conveying belt connecting part and a material tray connecting part which are both provided with U-shaped grooves, the conveying belt connecting part and the material tray connecting part are mutually vertical, and the opening directions of the U-shaped grooves of the conveying belt connecting part and the material tray connecting part are opposite; a connecting block 112 is arranged on the conveyor belt 107 sleeved between each group of the upper output belt wheel 103 and the lower output belt wheel 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 the U-shaped groove of the conveyor belt connecting part and is fixed, the tray connecting part of the connecting block 112 is parallel to the 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 belt wheels 106 corresponding to two conveying belts 107 connected with the two corresponding connecting blocks 112 positioned 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 ascend and descend by one ascending and descending driving unit 110 or two ascending and descending driving units 110.

Specifically, in this embodiment, there are 8 upper rotating shafts 102 and 8 lower rotating shafts 105, which correspond to each other one by one, 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, and the pulleys should be arranged close to the bearings in order to reduce the bending moment effect borne by the lower rotating shafts 105. Through the matching use of the plurality of lifting motors 113, the charging trays 108 can be stacked in sequence after being discharged, and the internal space of the material storage lifting mechanism is fully utilized; the lifting of the material tray is indirectly realized by the way that the lifting motor 113 drives the conveyor belt and the conveyor belt is connected with the material tray. The connecting block respectively with conveyer belt and charging tray bolted connection, can realize the transmission of motion and power, and the connecting block aggregate erection back, because of the effect of the upward no power of axis direction, and the installation clearance of conveyer belt and charging tray is very little, has played limiting displacement to the connecting block, in addition, this kind of mortise and tenon joint structure still has the convenience of installing and removing, bears great characteristics. In order to ensure that the material tray is evenly stressed, conveying belts are symmetrically arranged on two sides of the material tray, and eight conveying belts are arranged on two sides of the material tray respectively. Meanwhile, the speed synchronization performance of the conveying belt is guaranteed through the guide 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 rotating shaft 105, and the elevation motor 113 is connected to the lower rotating shaft 105 through an elevation motor coupling 114.

The utility model discloses a working process or principle are: the material storage lifting mechanism 1 is completely positioned in the sealed shell 2, and the feeding and discharging door 3 is arranged on the shell 2, so the utility model has the advantages 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 by matching the single steering wheel with the double bearing wheels; in the design of the material storage lifting mechanism 1, because of the symmetrical arrangement of the conveying belt 107 on the material tray 108, the stress of the material tray 108 is balanced, the starting motion is stable, and the larger bearing capacity is obtained, the synchronous belt of a single material tray 108 can be driven by two lifting driving units or one lifting driving unit, and the synchronism of the movement of the conveying belt 107 is ensured through the upper and lower bottom optical axes. The manner of independent driving of the material trays 108 can realize stacking of the material carrying trays, so that the arrangement is compact, and the internal space of the feeding mechanism is saved. While also keeping the tray 108 in a sealed space.

The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the details of the above embodiments, and the technical concept of the present invention can be within the scope of the present invention to perform various simple modifications to the technical solution of the present invention, and these simple modifications all belong to the protection scope of the present invention.

It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the present invention does not separately describe various possible combinations.

In addition, various embodiments of the present invention can be combined arbitrarily, and the disclosed content should be regarded as the present invention as long as it does not violate the idea of the present invention.

Claims

1. An indoor high-flexibility closed food 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 parallel to each other and are arranged on the lower surface of the upper horizontal plate (101), upper output belt wheels (103) which are arranged at two ends of each upper rotating shaft (102), and a lower horizontal plate (104) which is parallel to and opposite 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 correspond to the upper rotating shafts (102) one by one, lower output pulleys (106) which are arranged at two ends of each lower rotating shaft (105) and correspond to the upper output pulleys (103) one by one, a conveying belt (107) which is sleeved on the corresponding upper output pulleys (103) and lower output pulleys (106), a material tray (108) which is fixed with the conveying 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 with the end part of the lower rotating shaft (105); the lifting driving unit (110) can drive the lower rotating shaft (105) to rotate, so that the lower output belt wheel (106) is driven to rotate, the conveying belt (107) is driven, and the material tray (108) is lifted in sequence;

the bearing driving mechanism (4) comprises an installation plate (401), a steering wheel (402) arranged on the lower surface of the installation plate (401) and a bearing wheel (403).

2. The indoor high-flexibility closed-type food delivery robot according to claim 1, wherein the steering wheel (402) comprises a steering wheel frame (404), the steering wheel frame (404) comprises a horizontal plate and a first vertical plate and a second vertical plate which are vertically fixed on the lower surface of the horizontal plate and are parallel to each other;

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 on 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 on the outer side of the second vertical plate, a steering wheel motor (410) fixed on the lower surface of the horizontal plate and having an output shaft penetrating above the lower surface, a small belt wheel (411) connected with an output shaft of the steering wheel motor (410) and located 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 fixed on the upper surface of the horizontal plate, and a turntable bearing (414);

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 which is connected with the brake wheel through a shaft and a key;

the number of the bearing wheels (403) is two, 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 arranged in a triangular shape, so that the material storage lifting mechanism (1) is supported and driven.

3. An indoor high-flexibility closed type food delivery robot as claimed in claim 1, wherein a housing opening is provided on a side wall of the housing (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 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) which is positioned below the fourth overlapping gear (310) and is sleeved with the fourth overlapping gear (310) together with the third transmission belt (311), A fifth overlapping gear (313) meshed with the third overlapping gear (308), a third synchronous belt pulley (315) which is positioned below the fifth overlapping gear (313) and is sleeved with a fourth transmission belt (314) together with 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) which is connected with the second synchronous belt pulley (312) and the third synchronous belt pulley (315) and is arranged on the inner wall of the shell (2) below the shell opening; the bin gate motor (304) can drive the first overlapped gear (303) to rotate forwards and backwards, so that the first transmission belt (305) and the second transmission belt (307) are driven to drive the upper half door (309) to move upwards, meanwhile, 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, meanwhile, the third transmission belt (311) and the fourth transmission belt (314) drive the lower half door (316) to move upwards, and then the upper half door (309) and the lower half door (316) are opened and closed.

4. An indoor high-flexibility closed type meal delivery robot as claimed in claim 1, wherein the shell (2) is of a square cylindrical structure with an opening at the bottom, the shell (2) can cover the material storage lifting mechanism (1) and the lower end of the shell (2) is hermetically connected with the edge of the mounting plate (401), so that closed storage of materials in the material storage lifting mechanism (1) is realized; the shell (2) is a transparent shell, so that materials in the material storage lifting mechanism (1) can be seen clearly.

5. Indoor high flexibility closed delivery robot according to claim 1, characterized in that in the material storage elevator mechanism (1): a vertical guide optical axis (111) is arranged between the upper horizontal plate (101) and the lower horizontal plate (104), and the material tray (108) penetrates through the guide optical axis (111) and can vertically move along the guide optical axis (111); specifically, four guide optical axes (111) are arranged at four corners of the tray (108);

the conveying belt (107) is connected with the material tray (108) through a connecting block (112), the connecting block (112) comprises a conveying belt connecting part and a material tray connecting part which are both provided with U-shaped grooves, the conveying belt connecting part and the material tray connecting part are perpendicular to each other, and the opening directions of the U-shaped grooves of the conveying belt connecting part and the material tray connecting part are opposite; a connecting block (112) is arranged on the conveyor belt (107) sleeved between each upper output belt wheel (103) and each lower output belt wheel (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 the U-shaped groove of the conveyor belt connecting part and fixed, the material tray connecting part of the connecting block (112) is parallel to the material tray (108), the edge of the material tray (108) is inserted into the U-shaped groove of the material tray connecting part and fixed, and the connecting block (112) realizes the fixed connection between the conveyor belt (107) and the material tray (108); two connecting blocks (112) are respectively connected to two sides of each material tray (108), and two lower output belt wheels (106) corresponding to two conveying belts (107) connected with the two corresponding connecting blocks (112) positioned on two sides of the material tray (108) are positioned at two ends of the same lower rotating shaft (105), so that each material tray (108) is driven to lift by one lifting driving unit (110) or two lifting driving units (110) simultaneously.

6. An indoor high-flexibility closed type food delivery robot as claimed in claim 1, wherein the elevating driving unit (110) comprises an elevating motor (113) provided at an end of each lower rotary shaft (105), the elevating motor (113) being connected to the lower rotary shaft (105) through an elevating motor coupling (114).