CN214870614U - Housework robot capable of realizing dining table cleaning and kitchen tableware picking - Google Patents
Housework robot capable of realizing dining table cleaning and kitchen tableware picking Download PDFInfo
- Publication number
- CN214870614U CN214870614U CN202120867108.6U CN202120867108U CN214870614U CN 214870614 U CN214870614 U CN 214870614U CN 202120867108 U CN202120867108 U CN 202120867108U CN 214870614 U CN214870614 U CN 214870614U
- Authority
- CN
- China
- Prior art keywords
- manipulator
- mechanical arm
- motor
- plate
- robot capable
- Prior art date
- 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.)
- Expired - Fee Related
Links
- 238000004140 cleaning Methods 0.000 title claims description 13
- 230000007246 mechanism Effects 0.000 claims abstract description 68
- 230000005540 biological transmission Effects 0.000 claims abstract description 28
- 230000007306 turnover Effects 0.000 claims description 14
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000003028 elevating effect Effects 0.000 abstract description 7
- 230000008859 change Effects 0.000 abstract description 3
- 235000012054 meals Nutrition 0.000 abstract description 3
- 238000004851 dishwashing Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 235000021186 dishes Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to a can realize housework robot that dining table clearance and kitchen tableware were picked up, including portable base, the elevating system of setting on portable base, the arm horizontal rotation mechanism of setting on elevating system, the arm of setting on arm horizontal rotation mechanism, set up at the manipulator tilting mechanism of manipulator one end and the manipulator mechanism of being connected with manipulator tilting mechanism transmission, still be equipped with platform on the portable base. Compared with the prior art, the utility model discloses a removal of portable base realization device in the room through elevating system in order to adapt to the change of different platform heights, realizes waiting to pick up snatching of article through arm and manipulator mechanism to place on the object platform of device or assigned position in the kitchen, realize remaining empting of meal in the tableware through manipulator tilting mechanism, and then realize the clearance of dining table and the picking up of kitchen tableware, degree of automation and intellectuality are high.
Description
Technical Field
The utility model belongs to the technical field of housework robot, a can realize housework robot that dining table clearance and kitchen tableware were picked up is related to.
Background
With the development of science and technology, human life has started to move to the mechanized and intelligent era, and intelligent household products become urgent needs of people. Research has found that tedious housework takes up a great deal of time for people. For example: after people have cooked food, a great deal of time and energy are needed to be spent on the kitchen table and the dining table, and the quality and the level of life of the people are seriously influenced. Therefore, how to help people release from the tedious housework becomes an important direction of technical development.
However, although some housekeeping robots are currently on the market, the use of these products often requires human assistance. For example: the use of the dish washing machine requires that tableware such as dirty bowls and chopsticks in a dining table and a kitchen are manually picked up and then put into the dish washing machine, and the tableware needs to be manually taken out after the dishes are washed.
Therefore, there is a need for a highly automated housekeeping robot to perform table cleaning and kitchen dish collection.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a can realize housework robot that dining table clearance and kitchen tableware were picked up, after a family member had eaten rice, can realize the clearance of dining table, the collection and the clearance of kitchen tableware, realize that kitchen platform article are put.
The purpose of the utility model can be realized through the following technical scheme:
the utility model provides a can realize housework robot that dining table clearance and kitchen tableware were picked up, this robot includes portable base, sets up elevating system on portable base, sets up the horizontal rotary mechanism of arm on elevating system, sets up the arm on the horizontal rotary mechanism of arm, sets up the manipulator tilting mechanism in arm one end and the manipulator mechanism of being connected with manipulator tilting mechanism transmission, portable base on still be equipped with platform.
Furthermore, the movable base comprises a bottom plate, side plates arranged on the bottom plate, a top plate arranged at the tops of the side plates and a pair of moving mechanisms arranged on the bottom plate in parallel.
Furthermore, the moving mechanism comprises a moving wheel motor mounting plate arranged on the bottom plate, a moving wheel motor arranged on the moving wheel motor mounting plate and a moving wheel in transmission connection with the moving wheel motor, a worm gear assembly is arranged between the moving wheel motor and the moving wheel, a planetary gear assembly is arranged between the worm gear assembly and the moving wheel, and a worm wheel of the worm gear assembly is coaxially and fixedly connected with a central gear of the planetary gear assembly. The moving wheel motor drives the moving wheel to rotate through the worm gear assembly and the planetary gear assembly in sequence. The movement can be made smooth by the bearing support.
Furthermore, the lifting mechanism comprises a lifting driving motor and a lead screw nut assembly which are arranged on the top plate in parallel, a belt wheel transmission assembly arranged between the lifting driving motor and the lead screw nut assembly, and a mechanical arm supporting plate arranged at the top of the lead screw nut assembly. The mechanical arm supporting plate is higher than the top plate and used for supporting the mechanical arm. The lifting driving motor drives the screw nut component to move through the belt wheel transmission component, and the lifting or descending of the mechanical arm supporting plate is realized.
Further, the screw nut assembly comprises a screw vertically penetrating through the top plate and a nut sleeved on the screw, a nut bearing is arranged between the nut and the top plate, and the belt pulley transmission assembly comprises a large belt pulley, a small belt pulley and a transmission belt, wherein the large belt pulley is sleeved on the screw and fixedly connected with the nut, the small belt pulley is connected with an output shaft of the lifting driving motor, and the transmission belt is wound between the large belt pulley and the small belt pulley. The lifting is realized by adopting the screw nut component, the small belt wheel is driven to rotate by the lifting driving motor, the small belt wheel transmits power to the large belt wheel through the transmission belt, and the large belt wheel is connected with the nut, so that the nut is driven to rotate, and the lifting function is realized.
Furthermore, the top plate is also provided with a pair of slide block guide rail mechanisms matched with the mechanical arm support plate, and each slide block guide rail mechanism comprises a guide rail mounting plate vertically arranged on the top plate, a guide rail vertically arranged on the side surface of the guide rail mounting plate and a slide block movably arranged on the guide rail and connected with the end part of the mechanical arm support plate. The slide block guide rail mechanism is matched with the lifting mechanism and used for realizing the stability and accuracy of lifting.
Further, the horizontal rotating mechanism of the mechanical arm comprises a mechanical arm base arranged on the mechanical arm supporting plate, a ball bearing horizontally arranged between the top of the mechanical arm base and the bottom of the mechanical arm and a horizontal rotating motor vertically arranged on the mechanical arm base and in transmission connection with the mechanical arm. The mechanical arm is driven to rotate horizontally by the horizontal rotating motor, and friction can be reduced during rotation by matching with the ball structure.
Further, the manipulator turnover mechanism comprises a turnover motor mounting frame horizontally arranged at one end of the manipulator arm and a turnover motor arranged on the turnover motor mounting frame, and the manipulator mechanism is in transmission connection with the turnover motor. The turnover motor can drive the mechanical arm mechanism to rotate around the x axis, so that the tableware can be toppled.
Further, the manipulator mechanism include the manipulator mounting bracket, set up on the manipulator mounting bracket and with manipulator mounting bracket articulated manipulator clamping jaw and set up on the manipulator mounting bracket and with the manipulator clamping jaw transmission motor that opens and shuts that is connected, this manipulator opens and shuts and is equipped with the gear train between motor and the manipulator clamping jaw. The manipulator motor that opens and shuts drives gear set rotation, realizes opening and shutting of manipulator clamping jaw through gear engagement and snatchs.
Furthermore, the manipulator clamping jaw is provided with a pair of upper arc-shaped parts and a pair of lower arc-shaped parts, and the projection of the upper arc-shaped parts on the horizontal plane protrudes out of the projection of the lower arc-shaped parts on the horizontal plane. The clamping jaw of the manipulator is provided with an arc-shaped structure, so that tableware with any shape and moderate size can be grasped. Meanwhile, the protruding part on the upper arc-shaped part can prevent the tableware from sliding down when the tableware is turned over.
Compared with the prior art, the utility model discloses a removal of portable base realization device in the room through elevating system in order to adapt to the change of different platform heights, realizes waiting to pick up snatching of article through arm and manipulator mechanism to place on the object platform of device or assigned position in the kitchen, realize remaining empting of meal in the tableware through manipulator tilting mechanism, and then realize the clearance of dining table and the picking up of kitchen tableware, degree of automation and intellectuality are high.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic sectional view of the front view of the present invention;
fig. 3 is a schematic structural view of the moving mechanism of the present invention;
FIG. 4 is a schematic view of the connection structure of the worm wheel and the central gear of the present invention;
FIG. 5 is a schematic structural diagram of a moving mechanism (omitting a worm gear and a central gear) according to the present invention;
fig. 6 is a schematic structural view of a lifting mechanism (without a robot arm support plate) according to the present invention;
fig. 7 is a schematic sectional view of the lifting mechanism (without the supporting plate of the mechanical arm) in a front view;
fig. 8 is a schematic structural view of the horizontal rotation mechanism and the mechanical arm of the present invention;
fig. 9 is a schematic view of the horizontal rotation mechanism of the robot arm according to the present invention;
fig. 10 is a schematic structural view of a manipulator turnover mechanism and a manipulator mechanism in the present invention;
fig. 11 is a schematic structural view of the upper arc portion and the lower arc portion of the present invention;
the notation in the figure is:
1-mechanical arm, 2-object placing platform, 3-bottom plate, 4-side plate, 5-top plate, 6-moving wheel motor mounting plate, 7-moving wheel motor, 8-moving wheel, 9-worm wheel, 10-central gear, 11-lifting driving motor, 12-mechanical arm supporting plate, 13-lead screw, 14-nut, 15-nut bearing, 16-big belt wheel, 17-small belt wheel, 18-driving belt, 19-guide rail mounting plate, 20-guide rail, 21-sliding block, 22-mechanical arm base, 23-ball bearing, 24-horizontal rotating motor, 25-overturning motor mounting frame, 26-overturning motor, 27-mechanical arm mounting frame, 28-mechanical arm clamping jaw, 29-mechanical arm opening and closing motor, 30-gear set, 31-upper arc part and 32-lower arc part.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. The embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
Example (b):
as shown in fig. 1 and 2, the housework robot capable of realizing dining table cleaning and kitchen tableware picking comprises a movable base, a lifting mechanism arranged on the movable base, a mechanical arm horizontal rotating mechanism arranged on the lifting mechanism, a mechanical arm 1 arranged on the mechanical arm horizontal rotating mechanism, a mechanical arm turnover mechanism arranged at one end of the mechanical arm 1, and a mechanical arm mechanism in transmission connection with the mechanical arm turnover mechanism, wherein a storage platform 2 is further arranged on the movable base.
The movable base comprises a bottom plate 3, a side plate 4 arranged on the bottom plate 3, a top plate 5 arranged on the top of the side plate 4 and a pair of moving mechanisms arranged on the bottom plate 3 in parallel.
As shown in fig. 3, 4 and 5, the moving mechanism includes a moving wheel motor mounting plate 6 disposed on the bottom plate 3, a moving wheel motor 7 disposed on the moving wheel motor mounting plate 6, and a moving wheel 8 in transmission connection with the moving wheel motor 7, a worm gear assembly is disposed between the moving wheel motor 7 and the moving wheel 8, a planetary gear assembly is disposed between the worm gear assembly and the moving wheel 8, and a worm wheel 9 of the worm gear assembly is coaxially and fixedly connected with a central gear 10 of the planetary gear assembly.
As shown in fig. 6 and 7, the lifting mechanism includes a lifting drive motor 11 and a lead screw nut assembly which are arranged in parallel on the top plate 5, a pulley transmission assembly which is arranged between the lifting drive motor 11 and the lead screw nut assembly, and a robot arm support plate 12 which is arranged on the top of the lead screw nut assembly. The screw and nut assembly comprises a screw 13 vertically penetrating through the top plate 5 and a nut 14 sleeved on the screw 13, a nut bearing 15 is arranged between the nut 14 and the top plate 5, and the belt pulley transmission assembly comprises a large belt pulley 16 sleeved on the screw 13 and fixedly connected with the nut 14, a small belt pulley 17 connected with an output shaft of the lifting driving motor 11 and a transmission belt 18 wound between the large belt pulley 16 and the small belt pulley 17.
The top plate 5 is further provided with a pair of slider guide rail mechanisms matched with the mechanical arm support plate 12, and each slider guide rail mechanism comprises a guide rail mounting plate 19 vertically arranged on the top plate 5, a guide rail 20 vertically arranged on the side surface of the guide rail mounting plate 19 and a slider 21 movably arranged on the guide rail 20 and connected with the end part of the mechanical arm support plate 12.
As shown in fig. 8 and 9, the horizontal rotation mechanism of the robot arm includes a robot arm base 22 disposed on the robot arm support plate 12, a ball bearing 23 horizontally disposed between the top of the robot arm base 22 and the bottom of the robot arm 1, and a horizontal rotation motor 24 vertically disposed on the robot arm base 22 and in transmission connection with the robot arm 1.
As shown in fig. 10, the manipulator turning mechanism includes a turning motor mounting bracket 25 horizontally disposed at one end of the manipulator 1 and a turning motor 26 disposed on the turning motor mounting bracket 25, and the manipulator mechanism is in transmission connection with the turning motor 26. The manipulator mechanism comprises a manipulator mounting frame 27, a manipulator clamping jaw 28 arranged on the manipulator mounting frame 27 and hinged to the manipulator mounting frame 27, and a manipulator opening and closing motor 29 arranged on the manipulator mounting frame 27 and connected with the manipulator clamping jaw 28 in a transmission mode, wherein a gear set 30 is arranged between the manipulator opening and closing motor 29 and the manipulator clamping jaw 28.
As shown in fig. 11, the robot gripping jaw 28 is provided with a pair of upper arc portions 31 and a pair of lower arc portions 32, and the projection of the upper arc portions 31 on the horizontal plane is protruded from the projection of the lower arc portions 32 on the horizontal plane.
During the application, realize the removal of device in the room through portable base, through elevating system in order to adapt to the change of different platform heights, realize waiting to pick up snatching of article through arm 1 and manipulator mechanism to place on the thing platform 2 of device or assigned position in the kitchen, realize remaining toppling over of meal in the tableware through manipulator tilting mechanism, and then realize the clearance of dining table and the collection of kitchen tableware.
The embodiments described above are intended to facilitate the understanding and use of the invention by those skilled in the art. It will be readily apparent to those skilled in the art that various modifications to these embodiments may be made, and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present invention is not limited to the above embodiments, and those skilled in the art should make improvements and modifications within the scope of the present invention according to the disclosure of the present invention.
Claims (10)
1. The household robot is characterized by comprising a movable base, a lifting mechanism arranged on the movable base, a mechanical arm horizontal rotating mechanism arranged on the lifting mechanism, a mechanical arm (1) arranged on the mechanical arm horizontal rotating mechanism, a mechanical arm overturning mechanism arranged at one end of the mechanical arm (1) and a mechanical arm mechanism in transmission connection with the mechanical arm overturning mechanism, wherein a storage platform (2) is further arranged on the movable base.
2. The housework robot capable of realizing table cleaning and kitchen tableware picking up according to claim 1, characterized in that the movable base comprises a bottom plate (3), a side plate (4) arranged on the bottom plate (3), a top plate (5) arranged on the top of the side plate (4) and a pair of moving mechanisms arranged on the bottom plate (3) in parallel.
3. The housework robot capable of realizing dining table cleaning and kitchen tableware picking up according to claim 2, characterized in that the moving mechanism comprises a moving wheel motor mounting plate (6) arranged on the bottom plate (3), a moving wheel motor (7) arranged on the moving wheel motor mounting plate (6) and a moving wheel (8) in transmission connection with the moving wheel motor (7), a worm gear assembly is arranged between the moving wheel motor (7) and the moving wheel (8), a planetary gear assembly is arranged between the worm gear assembly and the moving wheel (8), and a worm wheel (9) of the worm gear assembly is coaxially and fixedly connected with a central gear (10) of the planetary gear assembly.
4. The household robot capable of cleaning dining tables and collecting kitchen utensils according to claim 2, wherein the lifting mechanism comprises a lifting driving motor (11) and a lead screw nut assembly which are arranged on the top plate (5) in parallel, a belt wheel transmission assembly arranged between the lifting driving motor (11) and the lead screw nut assembly, and a mechanical arm supporting plate (12) arranged on the top of the lead screw nut assembly.
5. The housework robot capable of realizing dining table cleaning and kitchen tableware picking up is characterized in that the screw rod nut component comprises a screw rod (13) vertically penetrating through the top plate (5) and a nut (14) sleeved on the screw rod (13), a nut bearing (15) is arranged between the nut (14) and the top plate (5), and the belt wheel transmission component comprises a large belt wheel (16) sleeved on the screw rod (13) and fixedly connected with the nut (14), a small belt wheel (17) connected with an output shaft of the lifting driving motor (11) and a transmission belt (18) wound between the large belt wheel (16) and the small belt wheel (17).
6. The housework robot capable of realizing dining table cleaning and kitchen tableware picking up is characterized in that a pair of slide block guide rail mechanisms matched with the mechanical arm supporting plate (12) is further arranged on the top plate (5), and each slide block guide rail mechanism comprises a guide rail mounting plate (19) vertically arranged on the top plate (5), a guide rail (20) vertically arranged on the side surface of the guide rail mounting plate (19) and a slide block (21) movably arranged on the guide rail (20) and connected with the end part of the mechanical arm supporting plate (12).
7. The housework robot capable of realizing dining table cleaning and kitchen tableware picking up is characterized in that the mechanical arm horizontal rotating mechanism comprises a mechanical arm base (22) arranged on the mechanical arm supporting plate (12), a ball bearing (23) horizontally arranged between the top of the mechanical arm base (22) and the bottom of the mechanical arm (1) and a horizontal rotating motor (24) vertically arranged on the mechanical arm base (22) and in transmission connection with the mechanical arm (1).
8. The housework robot capable of realizing dining table cleaning and kitchen tableware picking up is characterized in that the manipulator turnover mechanism comprises a turnover motor mounting rack (25) horizontally arranged at one end of a manipulator (1) and a turnover motor (26) arranged on the turnover motor mounting rack (25), and the manipulator mechanism is in transmission connection with the turnover motor (26).
9. The housework robot capable of realizing dining table cleaning and kitchen tableware picking up according to claim 8, characterized in that the manipulator mechanism comprises a manipulator mounting frame (27), a manipulator clamping jaw (28) arranged on the manipulator mounting frame (27) and hinged to the manipulator mounting frame (27), and a manipulator opening and closing motor (29) arranged on the manipulator mounting frame (27) and in transmission connection with the manipulator clamping jaw (28), wherein a gear set (30) is arranged between the manipulator opening and closing motor (29) and the manipulator clamping jaw (28).
10. The housework robot capable of realizing table cleaning and kitchen tableware picking according to claim 9, characterized in that the manipulator jaw (28) is provided with a pair of upper arc-shaped parts (31) and a pair of lower arc-shaped parts (32), and the projection of the upper arc-shaped parts (31) on the horizontal plane is higher than the projection of the lower arc-shaped parts (32) on the horizontal plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120867108.6U CN214870614U (en) | 2021-04-26 | 2021-04-26 | Housework robot capable of realizing dining table cleaning and kitchen tableware picking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120867108.6U CN214870614U (en) | 2021-04-26 | 2021-04-26 | Housework robot capable of realizing dining table cleaning and kitchen tableware picking |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214870614U true CN214870614U (en) | 2021-11-26 |
Family
ID=78888759
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120867108.6U Expired - Fee Related CN214870614U (en) | 2021-04-26 | 2021-04-26 | Housework robot capable of realizing dining table cleaning and kitchen tableware picking |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214870614U (en) |
-
2021
- 2021-04-26 CN CN202120867108.6U patent/CN214870614U/en not_active Expired - Fee Related
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107336249B (en) | Intelligent restaurant with three-jaw mechanical arm | |
| CN211385960U (en) | Electric device for dust removal of circuit board | |
| CN214870614U (en) | Housework robot capable of realizing dining table cleaning and kitchen tableware picking | |
| CN112976016A (en) | Housework robot capable of realizing dining table cleaning and kitchen tableware picking | |
| CN102406327A (en) | Automatic rotating dinning table | |
| CN112957135B (en) | Gynaecology and obstetrics that conveniently gets puts places dish before clinical operation of putting | |
| CN212825437U (en) | Grabbing and releasing workbench | |
| CN112244498B (en) | Automatic balance dining table | |
| CN111700490A (en) | Self-service processing is sold evaporates dish robot | |
| CN209252414U (en) | Cooker | |
| CN108324219B (en) | Automatic dish loading rack for dish washer | |
| CN213532674U (en) | Emptying mechanical arm of mechanical arm device | |
| CN218114144U (en) | Glass plate turnover mechanism | |
| CN111227516A (en) | Rotary dining table capable of automatically stopping | |
| CN213405390U (en) | Suspension type cupboard convenient to it is clean | |
| CN211582038U (en) | Washing integrated automatic dining table | |
| CN217255829U (en) | Automatic plate turnover is made to furniture | |
| CN214803232U (en) | Cooking table platform based on double-arm robot | |
| CN111820635B (en) | Whole house customization intelligence cupboard | |
| CN215885443U (en) | Frame is accomodate to domestic old nursing medicine bottle | |
| CN220972432U (en) | Medical manipulator | |
| CN220972398U (en) | Intelligent household robot | |
| CN219095133U (en) | Intelligent robot is retrieved to tableware | |
| CN215825332U (en) | Flexible manipulator equipment for stainless steel pot production | |
| CN219641591U (en) | IPAD equipment quality defect visual inspection device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20211126 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |