阅读说明：本技术 智能送餐车 (Intelligent serving trolley ) 是由 曾繁通 金峥 梁洪权 覃仕明 罗伟 石弟军 于 2020-05-14 设计创作，主要内容包括：本发明涉及一种智能送餐车,所述智能送餐车包括：行走机构,所述行走机构能够沿云轨运动,所述行走机构包括供电电源及与所述供电电源连接的充电配合件；载物机构,所述载物机构包括控制电路、电池,以及与所述控制电路或所述电池连接的充电件；以及升降机构,所述升降机构安装于所述行走机构上,所述升降机构用于驱动所述载物机构进行升降；当所述载物机构上升至预设高度时,所述充电件能够与所述充电配合件接触导通,以使所述控制电路或所述电池与所述供电电源导通形成充电回路。本发明的智能送餐车能够有效避免不同设备之间的传递误差,降低餐品掉落风险,并且还能够很好地解决载物机构充电困难的问题。(The invention relates to an intelligent serving trolley, which comprises: the traveling mechanism can move along the cloud rail and comprises a power supply and a charging matching piece connected with the power supply; the carrying mechanism comprises a control circuit, a battery and a charging piece connected with the control circuit or the battery; the lifting mechanism is arranged on the travelling mechanism and is used for driving the carrying mechanism to lift; when the loading mechanism ascends to a preset height, the charging piece can be in contact conduction with the charging matching piece, so that the control circuit or the battery is conducted with the power supply to form a charging loop. The intelligent serving trolley can effectively avoid transmission errors among different devices, reduce the risk of dropping food, and well solve the problem of difficult charging of the loading mechanism.)

1. An intelligent serving trolley, comprising:

the traveling mechanism can move along the cloud rail and comprises a power supply and a charging matching piece connected with the power supply;

the carrying mechanism comprises a control circuit, a battery and a charging piece connected with the control circuit or the battery; and

the lifting mechanism is arranged on the travelling mechanism and is used for driving the carrying mechanism to lift; when the loading mechanism ascends to a preset height, the charging piece can be in contact conduction with the charging matching piece, so that the control circuit or the battery is conducted with the power supply to form a charging loop.

2. The intelligent serving trolley according to claim 1, wherein the charging member is a charging pile extending towards one side of the travelling mechanism, the charging mating member is a charging sleeve opening towards one side of the carrying mechanism, and the charging pile can be plugged into and conducted with the charging sleeve.

3. The intelligent dining car according to claim 2, wherein the lifting mechanism comprises a power assembly, a rope winding assembly and a traction rope, one end of the traction rope is connected with the charging pile, the other end of the traction rope penetrates through the charging sleeve to be connected with the rope winding assembly, and the power assembly is in driving connection with the rope winding assembly so that the rope winding assembly winds or unwinds the traction rope, and the carrying mechanism is driven to lift.

4. The intelligent serving trolley according to claim 2, wherein two charging piles are arranged at intervals, namely a positive charging pile connected with the positive pole of the control circuit and a negative charging pile connected with the negative pole of the control circuit; two charging sleeves are arranged at intervals and respectively are a positive charging sleeve connected with the positive electrode of the power supply and a negative charging sleeve connected with the negative electrode of the power supply; the positive pole fills electric pile can with the positive pole cover that charges is pegged graft and is switched on, the negative pole fills electric pile can with the negative pole cover that charges is pegged graft and is switched on.

5. The intelligent dining car according to claim 1, wherein the traveling mechanism further comprises a frame, a supporting wheel assembly and a driving wheel assembly, the frame is movably mounted in the track groove of the cloud rail through the supporting wheel assembly, the driving wheel assembly is connected to the frame, the driving wheel assembly comprises a driving wheel and a driving member, the driving wheel is used for being in rolling fit with the top wall of the track groove, and the driving member is used for driving the driving wheel to rotate so as to drive the frame to move along the cloud rail.

6. The intelligent serving trolley of claim 5, wherein the drive wheel assembly further comprises a meshing gear, the meshing gear is in driving connection with the drive member, and the meshing gear is used for meshing with a rack arranged on the cloud track.

7. The intelligent dining car of claim 5, wherein the frame comprises two side support plates disposed opposite to each other in a direction perpendicular to a traveling direction of the frame, the support wheel assembly comprises a first support wheel rotatable about a transverse pivot and a second support wheel rotatable about a vertical pivot, each of the side support plates rotatably mounts at least one of the first support wheel and the second support wheel, the first support wheel is configured to be in rolling engagement with the bottom wall of the track groove, and the second support wheel is configured to be in rolling engagement with the side wall of the track groove.

8. The intelligent dining car of claim 7, wherein the walking mechanism further comprises a brake mounted on the frame, the brake being capable of braking the first support wheel and/or the second support wheel.

9. The intelligent serving trolley of claim 5, wherein the trolley frame is provided with a first impact beam and a second impact beam on two opposite sides of the travelling direction, and the first impact beam and the second impact beam are used for buffering when colliding with an obstacle.

10. The intelligent dining car of claim 9, wherein the travel mechanism further comprises a collision detection switch capable of triggering a braking operation upon a collision of the first collision beam and/or the second collision beam.

11. The intelligent serving trolley of claim 5, wherein the travelling mechanism further comprises an anti-collision detection element, and the anti-collision detection element is used for detecting the obstacle condition at the front side of the travelling mechanism in the travelling direction and feeding back the detection information to a control system of the intelligent serving trolley.

12. The intelligent serving trolley of claim 5, wherein the travelling mechanism further comprises a position detection element arranged on the trolley frame, and the position detection element is used for identifying the current position information of the travelling mechanism and feeding the current position information back to a control system of the intelligent serving trolley.

13. The intelligent serving trolley according to any one of claims 1 to 12, wherein the carrying mechanism further comprises a box body, a box door, a driver and a self-locking assembly, the box body is provided with a taking and placing opening, the box door is movably connected with the box body, the box door is used for opening or closing the taking and placing opening, the driver is used for driving the box door to switch between a door opening position and a door closing position, the self-locking assembly is used for locking or unlocking the box door and the box body, the driver and the self-locking assembly are respectively electrically connected with the control circuit, and the charging piece is arranged at the top of the box body.

Technical Field

The invention relates to the technical field of catering robots, in particular to an intelligent serving trolley.

Background

With the development of automation and intelligent technologies, an automatic guided vehicle (AGV cart) is widely used in various industries, and can carry, place, transfer and the like articles. In the catering industry, the intelligent food delivery trolley derived based on the AGV trolley can replace manual food delivery operation, so that the labor intensity of food and beverage service personnel can be reduced, the food delivery efficiency is improved, and the problem of labor shortage in the market can be effectively alleviated. The intelligent serving trolley capable of running along the cloud rail erected at the high-altitude position of the catering place is an intelligent serving trolley with a good application prospect.

Traditional and cloud rail complex intelligence serving trolley is when carrying out the operation of food delivery, and usually follow the cloud rail earlier and move to last dish mouth, convey the food to serving trolley through last dish mouth mechanism on, then serving trolley moves to the dish mouth of unloading that is located customer's dining table top along the cloud rail, and dish mouth mechanism is transmitted the food to customer's dining table under the rethread on to accomplish automatic food delivery operation. However, in the meal delivery process, meal items need to be transferred among a plurality of devices such as the meal feeding port mechanism, the meal delivery trolley and the meal discharging port mechanism, so that the cost is high, and the transfer errors among different devices are difficult to avoid, so that a large risk of dropping the meal items exists. Some intelligence serving trolley is equipped with the thing mechanism that carries of liftable in addition, when serving trolley moves to dish mouthful down, will carry thing mechanism to drop to the customer dining table on, customer directly get meal can, this kind of intelligence serving trolley is the problem of difficult solution always to the transmission error that can avoid between the different equipment to a certain extent, nevertheless carries the charging problem of thing mechanism.

Disclosure of Invention

Based on this, it is necessary to provide an intelligent serving trolley aiming at the above problems, and the intelligent serving trolley can effectively avoid the transmission error between different devices, reduce the risk of dropping food, and can also well solve the problem of charging difficulty of a loading mechanism.

An intelligent serving trolley, comprising:

the traveling mechanism can move along the cloud rail and comprises a power supply and a charging matching piece connected with the power supply;

the carrying mechanism comprises a control circuit, a battery and a charging piece connected with the control circuit or the battery; and

the lifting mechanism is arranged on the travelling mechanism and is used for driving the carrying mechanism to lift; when the loading mechanism ascends to a preset height, the charging piece can be in contact conduction with the charging matching piece, so that the control circuit or the battery is conducted with the power supply to form a charging loop.

Above-mentioned intelligence serving trolley is when delivering meal, place the meal article in carrying thing mechanism through service personnel or robot, carry thing mechanism through the elevating system drive and rise to predetermineeing the height, then running gear moves along the cloud rail and transfers to being located customer's dining table top position until carrying thing mechanism, rethread elevating system drive carries thing mechanism and descends to customer's dining table, customer directly get meal can, whole meal delivery process is independently accomplished by intelligent serving trolley, need not to set up again in the middle of transfer devices such as meal mouthful mechanism and dish mouthful mechanism down, can effectively avoid the transmission error between the different equipment, reduce the meal article risk that drops, and still can effectively reduce cost. In addition, when carrying the thing mechanism and rising to predetermineeing the height, carry the charging piece on the thing mechanism and contact with the fitting piece contact of charging on the running gear, make the control circuit or the battery that carry the thing mechanism and the power supply of running gear switch on and form charging circuit to can charge for carrying the control circuit or the battery of thing mechanism, in order to guarantee to carry the thing mechanism electric quantity sufficient, so, can solve the problem that carries the thing mechanism difficulty of charging well when sending meal.

In one embodiment, the charging element is a charging pile extending towards one side of the travelling mechanism, the charging mating part is a charging sleeve opening towards one side of the carrying mechanism, and the charging pile can be plugged with the charging sleeve and conducted.

In one embodiment, the lifting mechanism comprises a power assembly, a rope winding assembly and a traction rope, one end of the traction rope is connected with the charging pile, the other end of the traction rope penetrates through the charging sleeve to be connected with the rope winding assembly, and the power assembly is in driving connection with the rope winding assembly so that the rope winding assembly winds or unwinds the traction rope, and then the carrying mechanism is driven to lift.

In one embodiment, two charging piles are arranged at intervals, namely an anode charging pile connected with the anode of the control circuit and a cathode charging pile connected with the cathode of the control circuit; two charging sleeves are arranged at intervals and respectively are a positive charging sleeve connected with the positive electrode of the power supply and a negative charging sleeve connected with the negative electrode of the power supply; the positive pole fills electric pile can with the positive pole cover that charges is pegged graft and is switched on, the negative pole fills electric pile can with the negative pole cover that charges is pegged graft and is switched on.

In one embodiment, the traveling mechanism further comprises a frame, a supporting wheel assembly and a driving wheel assembly, the frame is movably mounted in the track groove of the cloud rail through the supporting wheel assembly, the driving wheel assembly is connected to the frame, the driving wheel assembly comprises a driving wheel and a driving piece, the driving wheel is used for being in rolling fit with the top wall of the track groove, and the driving piece is used for driving the driving wheel to rotate so as to drive the frame to move along the cloud rail.

In one embodiment, the driving wheel assembly further comprises a meshing gear, the meshing gear is in driving connection with the driving piece, and the meshing gear is used for meshing with a rack arranged on the cloud track.

In one embodiment, the vehicle frame comprises two side support plates which are oppositely arranged in the direction perpendicular to the traveling direction of the vehicle frame, the support wheel assembly comprises a first support wheel capable of rotating around a transverse pivot and a second support wheel capable of rotating around a vertical pivot, at least one first support wheel and at least one second support wheel are rotatably arranged on each side support plate, the first support wheel is used for being in rolling fit with the bottom wall of the track groove, and the second support wheel is used for being in rolling fit with the side wall of the track groove.

In one embodiment, the running gear further comprises a brake mounted on the frame, the brake being capable of braking the first support wheel and/or the second support wheel.

In one embodiment, the vehicle frame is provided with a first impact beam and a second impact beam on two opposite sides of the traveling direction, and the first impact beam and the second impact beam are used for buffering when colliding with an obstacle.

In one embodiment, the traveling mechanism further includes a collision detection switch capable of triggering a braking operation when the first collision beam and/or the second collision beam collides.

In one embodiment, the walking mechanism further comprises an anti-collision detection element, and the anti-collision detection element is used for detecting the obstacle condition at the front side of the walking mechanism in the advancing direction and feeding back the detection information to the control system of the intelligent dining car.

In one embodiment, the travelling mechanism further comprises a position detection element arranged on the frame, and the position detection element is used for identifying the current position information of the travelling mechanism and feeding the current position information back to the control system of the intelligent serving trolley.

In one embodiment, the carrying mechanism further comprises a box body, a box door, a driver and a self-locking assembly, the box body is provided with a taking and placing opening, the box door is movably connected with the box body, the box door is used for opening or closing the taking and placing opening, the driver is used for driving the box door to switch between a door opening position and a door closing position, the self-locking assembly is used for locking or unlocking the box door and the box body, the driver and the self-locking assembly are respectively electrically connected with the control circuit, and the charging piece is arranged at the top of the box body.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention.

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic structural view of the intelligent dining car and cloud rail in cooperation according to an embodiment of the invention;

FIG. 2 is a front view of the intelligent serving trolley of FIG. 1 mated with a cloud rail;

FIG. 3 is a side view of the smart cart of FIG. 1 mated with a cloud rail;

FIG. 4 is a schematic cross-sectional view of an intelligent serving cart in accordance with an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a traveling mechanism of an intelligent dining car according to an embodiment of the present invention;

FIG. 6 is a side view of the travel mechanism of FIG. 5;

FIG. 7 is a front view of the travel mechanism of FIG. 5;

FIG. 8 is a top view of the travel mechanism of FIG. 5;

FIG. 9 is a schematic structural diagram of a lifting mechanism of an intelligent dining car according to an embodiment of the present invention;

FIG. 10 is a schematic structural diagram of a loading mechanism of the intelligent dining car according to an embodiment of the present invention;

FIG. 11 is a schematic structural view of the loading mechanism of FIG. 10 in another state;

fig. 12 is a schematic view of the loading mechanism of fig. 10 with the top cover removed.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Referring to fig. 1 to 3, schematic diagrams of a matching structure of the intelligent food delivery cart and the cloud rail 40 in an embodiment of the invention are shown, and the intelligent food delivery cart can be matched with the cloud rail 40 and runs at an overhead position of a catering place to perform tasks such as automatic food delivery, food delivery and the like, so that the labor intensity of catering service personnel can be reduced, and the food delivery efficiency can be improved. The cloud rail 40 is a rail erected at an overhead position (for example, on a ceiling) of a dining place, the cloud rail 40 can be a linear rail or an annular rail according to a specific dining route, and a dining table can be arranged below the dining place corresponding to the cloud rail 40.

The intelligent serving trolley provided by the embodiment of the invention comprises a travelling mechanism 10, a carrying mechanism 20 and a lifting mechanism 30. The traveling mechanism 10 can move along the cloud rail 40, and the traveling mechanism 10 comprises a power supply and a charging matching part connected with the power supply; the carrying mechanism 20 comprises a control circuit and a battery, and a charging piece connected with the control circuit or the battery; the lifting mechanism 30 is mounted on the traveling mechanism 10, and the lifting mechanism 30 is used for driving the carrying mechanism 20 to lift; when the loading mechanism 20 is raised to a predetermined height, the charging element can be in contact with the charging mating element, so that the control circuit or the battery is conducted with the power supply to form a charging loop.

The intelligent food serving trolley particularly relates to an AGV trolley, wherein the traveling mechanism 10 is used for providing power for the AGV trolley to advance and retreat on the cloud rail 40, and then the carrying mechanism 20 is driven to convey between an upper vegetable opening position and a lower vegetable opening position. The running gear 10 includes a power supply, which can provide the running gear 10 with power during the running process and can also charge the carrying gear 20. Specifically, as shown in fig. 4, the power supply source may be a power receiving box 11 mounted on a frame 13 of the traveling mechanism 10, power is transmitted through the power receiving box 11, and the power supply contact may be a flexible (spring) contact to ensure that power can be continuously and stably transmitted during traveling. Carry thing mechanism 20 and be used for loading the food, the food of here includes the tableware and holds the food in the tableware, carries thing mechanism 20 and specifically can adopt forms such as tray or food delivery case to load the food, carries thing mechanism 20 and includes control circuit, and control circuit is used for controlling the electrical components in carrying thing mechanism 20 to make the electrical components in carrying thing mechanism 20 can carry out corresponding instruction, thereby make carry thing mechanism 20 can realize certain automation mechanized operation.

When carrying thing mechanism 20 and rising to predetermineeing the height, the piece that charges switches on with the fitting piece contact that charges to switch on between making power supply and control circuit (or battery) and forming the charging circuit, can charge for control circuit (or battery), thereby make to carry thing mechanism 20 electric power sufficient, can guarantee normal operating. The preset height herein refers to a height at which the charging member and the charging mating member can be brought into contact with each other and form a stable mating. The charging element and the charging mating member can be in surface contact with each other (for example, the charging element and the charging mating member are conductive planes which are mutually attached and in contact conduction), or can be in contact conduction by adopting modes such as plugging and matching, and the like, so long as a stable charging loop can be formed, and no specific limitation is made herein.

Above-mentioned intelligence serving trolley is when sending a meal, place the meal article in carrying thing mechanism 20 through service personnel or robot, carry thing mechanism 20 through elevating system 30 drive and rise to predetermineeing the height, then running gear 10 moves along cloud rail 40 and transfers to being located customer's dining table top position until carrying thing mechanism 20, rethread elevating system 30 drive carries thing mechanism 20 and descends to customer's dining table on, customer directly get meal can, whole meal delivery process is independently accomplished by intelligent serving trolley, need not to set up again in the middle of dish mouth mechanism and dish mouth mechanism etc. transmission equipment, can effectively avoid the transmission error between the different equipment, reduce the meal article risk that drops, and still effectively reduce cost. In addition, when the loading mechanism 20 ascends to the preset height, the charging element on the loading mechanism 20 is in contact conduction with the charging mating element on the traveling mechanism 10, so that the control circuit (or battery) of the loading mechanism 20 is in conduction with the power supply of the traveling mechanism 10 to form a charging loop, and the control circuit (or battery) of the loading mechanism 20 can be charged, so that the sufficient electric quantity of the loading mechanism 20 is ensured, and thus, the problem of difficulty in charging the loading mechanism 20 can be well solved when the meal delivery is carried out.

In order to ensure that a more reliable electrical connection can be formed between the charging element and the charging mating element, in an embodiment, as shown in fig. 2 and 3, the charging element is a charging pile 21 extending toward one side of the traveling mechanism 10, the charging mating element is a charging sleeve 12 opening toward one side of the carrying mechanism 20, and the charging pile 21 can be inserted into and conducted with the charging sleeve 12. Specifically, carry thing mechanism 20 and be located running gear 10's below, when carrying thing mechanism 20 and rise to when predetermineeing the height, fill electric pile 21 and peg graft in charging sleeve 12, both peg graft and switch on, simple structure, the cooperation is reliable, can prevent to advance in-process both mutual squints and produce contact failure to ensure the reliability of charging. And through the location fit between filling electric pile 21 and the cover 12 that charges, can carry thing mechanism 20 whole fixed action of playing, can avoid carrying thing mechanism 20 and taking place the swing and lead to inside food slope or drop at running gear 10 along the operation in-process of cloud rail 40 to can further promote the motion stationarity who carries thing mechanism 20, promote the food delivery security.

Referring to fig. 4, optionally, the charging pile 21 includes a fixing base 211 and a charging terminal 212 installed on the fixing base 211, the charging sleeve 12 includes a sleeve 121 with an opening at the bottom, and a conductive contact 122 disposed in the sleeve 121, and the conductive contact 122 is electrically connected to an electrode of the power supply through a wire 123. When the charging terminal 212 is inserted into the sleeve 121, the charging terminal 212 is in contact with the conductive contact 122 to form a charging circuit. The conductive contact 122 may be made of an elastic conductive material, and the conductive contact 122 clamps the charging terminal 212 by an elastic force, so that the charging terminal 212 is prevented from loosening, and the charging stability is further ensured.

Referring to fig. 4 and 12, in one embodiment, the lifting mechanism 30 includes a power assembly 31, a rope winding assembly 32 and a pulling rope 33, one end of the pulling rope 33 is connected to the charging pile 21, the other end of the pulling rope 33 passes through the charging sleeve 12 and is connected to the rope winding assembly 32, the power assembly 31 is drivingly connected to the rope winding assembly 32 to wind or unwind the pulling rope 33 by the rope winding assembly 32, and thereby the carrying mechanism 20 is lifted or lowered. Through integrating haulage rope 33 and fill electric pile 21 in an organic whole, can need not to set up in addition again on carrying thing mechanism 20 and be used for haulage rope 33 fixed knot to construct, can simplify the structure to, still can play certain guide effect through haulage rope 33, make to fill electric pile 21 and can insert smoothly and arrange in charging sleeve 12.

Optionally, the lifting mechanism 30 further includes a rope guiding assembly 34, the rope guiding assembly 34 is disposed opposite to the rope winding assembly 32, and the pulling rope 33 is wound onto the rope winding assembly 32 via the rope guiding assembly 34, so that a certain guiding function can be performed on the pulling rope 33 to ensure that the pulling rope 33 can be orderly wound onto the rope winding assembly 32.

Furthermore, the charging piles 21 are provided with two positive charging piles connected with the positive electrode of the control circuit (or the battery) and two negative charging piles connected with the negative electrode of the control circuit (or the battery) at intervals; the two charging sleeves 12 are arranged at intervals and respectively are a positive charging sleeve connected with the positive electrode of the power supply and a negative charging sleeve connected with the negative electrode of the power supply; the positive pole fills electric pile and can pegs graft and switch on with the positive pole cover that charges, and the negative pole fills electric pile and can peg graft and switch on with the negative pole cover that charges. Through the grafting cooperation of two electric pile 21 and two cover 12 that charge, can further guarantee the reliability of charging to further promote the positioning reliability who carries between thing mechanism 20 and the running gear 10.

Correspondingly, the lifting mechanism 30 includes two sets of rope winding assemblies 32 and two pulling ropes 33, one of the pulling ropes 33 connects the positive charging pile with one of the rope winding assemblies 32, the other pulling rope 33 connects the negative charging pile with the other rope winding assembly 32, the positive charging sleeve and the negative charging sleeve are respectively provided with a through hole for the corresponding pulling rope 33 to pass through, and the power assembly 31 is used for driving the two sets of rope winding assemblies 32 to synchronously operate. In this way, the two pulling ropes 33 are wound or unwound synchronously, and the lifting stability of the loading mechanism 20 can be further improved. Wherein, power component 31 can include power supply and transmission structure, and the power supply passes through the transmission structure and is connected with two wiring subassembly 32 drives respectively to make two haulage ropes 33 can be under the drive of a power supply orderly, controllable synchronous winding.

To ensure the uniformity of the wrap of the traction rope 33, in one embodiment, the rope winding assembly 32 includes a base, a pulley shaft, a lead screw, a pulley, and a rope winding wheel. The thumb wheel shaft is rotatably arranged on the base and is used for being in driving connection with the power assembly 31; the screw rod is fixed on the base and is coaxially arranged with the shifting wheel shaft; the deflector rod is parallel to the screw rod and arranged at intervals, and the deflector rod is fixedly connected with the dial wheel shaft; the rope winding wheel is sleeved on the periphery of the screw rod and the driving lever, the rope winding wheel is in threaded transmission connection with the screw rod, and the rope winding wheel and the driving lever can be in sliding fit. The driving wheel shaft is driven to rotate through the power assembly 31, the driving wheel shaft drives the driving rod and the rope winding wheel to rotate around the axis of the driving wheel shaft, and the rope winding wheel can rotate in the process of linear motion along the screw rod, so that the rope winding wheel can realize spiral motion with the same pitch as the screw rod, and the traction rope 33 can be uniformly distributed on the rope winding wheel, and further the motion stability of the object to be dragged can be further ensured.

Of course, in other embodiments, a single rope traction may be used to ensure that the loading mechanism 20 can be lifted stably. For example, a charging pile 21 may be disposed at a central position of the top of the carrying mechanism 20, a pulling rope 33 may be connected to the charging pile 21, and a positive contact connected to a positive electrode of the control circuit (or the battery) and a negative contact connected to a negative electrode of the control circuit (or the battery) may be integrated into the charging pile 21. Correspondingly, the charging sleeve 12 is integrated with a positive contact in communication with the positive pole of the power supply and a negative contact in communication with the negative pole of the power supply. Therefore, only one charging pile 21 is matched with one charging sleeve 12, and the charging of the object carrying mechanism 20 can be completed.

Fig. 5 to 8 are schematic structural diagrams illustrating a traveling mechanism of an intelligent dining car in an embodiment of the invention. In one embodiment, the traveling mechanism 10 further includes a frame 13, a support wheel assembly, and a driving wheel assembly, the frame 13 is movably mounted in the track groove of the cloud rail 40 via the support wheel assembly, the driving wheel assembly is connected to the frame 13, the driving wheel assembly includes a driving wheel 151 and a driving member 152, the driving wheel 151 is configured to be in rolling fit with the top wall of the track groove, and the driving member 152 is configured to drive the driving wheel 151 to rotate so as to drive the frame 13 to move along the cloud rail 40.

Specifically, as shown in fig. 1 and 2, the cloud rail 40 is used for being erected at an upper air position of a dining place, the cloud rail 40 includes a top plate, side plates extending downward from both sides of the top plate in a width direction, and bottom plates extending horizontally inward from bottom sides of the two side plates, and a rail groove is defined between the top plate, the two side plates, and the two bottom plates. The frame 13 is used to form a main body supporting structure of the traveling mechanism 10, the frame 13 can be installed in the track groove through the supporting wheel assembly, the peripheral surface of the driving wheel 151 is in contact with the top wall of the track groove (i.e., the inner wall surface of the top plate), the driving wheel 151 is driven to rotate by the driving member 152, and power is generated by friction between the driving wheel 151 and the top wall of the track groove, so that the frame 13 can be driven to move forward or backward along the cloud rail 40. The driving member 152 may specifically include a driving motor and a reduction motor, and the driving motor is in driving connection with the driving wheel 151 through the reduction motor.

In addition, because the environment of the catering place is complex, the intelligent serving trolley frequently needs to climb or pass through a lampblack area in the process of going on, and the intelligent serving trolley can smoothly pass through a special road section in order to guarantee. Further, the driving wheel assembly further comprises a meshing gear 153, the meshing gear 153 is in driving connection with the driving member 152, and the meshing gear 153 is used for meshing with a rack arranged on the cloud rail 40. Specifically, the cloud rail 40 may be provided with a rack inside the track passing through a special section (e.g., a climbing section or a lampblack area) when being designed, and when the intelligent dining car passes through the special section, the engaging gear 153 may be engaged with the rack, and the driving member 152 drives the engaging gear 153 to rotate, so that the driving force may be increased, thereby increasing the power and climbing ability of the intelligent dining car. For example, as shown in fig. 5, in the present embodiment, the meshing gear 153 is coaxially disposed inside the driving wheel 151, and the driving shaft of the driving member 152 is sequentially connected to the meshing gear 153 and the driving wheel 151, so that the meshing gear 153 and the driving wheel 151 can be simultaneously rotated by the driving member 152.

As shown in fig. 6, in order to further ensure the driving force of the driving wheel 151, the traveling mechanism 10 further includes a pressure adjusting assembly 16, the driving wheel 151 is connected to the frame 13 through the pressure adjusting assembly 16, and the pressure adjusting assembly 16 is used for adjusting the pressure between the driving wheel 151 and the cloud rail 40. For example, the pressure adjusting assembly 16 may include an adjusting spring, and the pressure between the driving wheel 151 and the cloud rail 40 is adjusted by adjusting the compression amount of the adjusting spring, so that the appropriate driving force and braking force can be obtained.

Further, referring to fig. 2 and 8, the frame 13 includes two side support plates 131 oppositely disposed in a direction perpendicular to a traveling direction of the frame 13, the support wheel assembly includes a first support wheel 141 capable of pivoting about a transverse axis and a second support wheel 142 capable of pivoting about a vertical axis, each of the side support plates 131 is rotatably mounted with at least one first support wheel 141 and at least one second support wheel 142, the first support wheel 141 is configured to be in rolling engagement with the bottom wall of the track groove, and the second support wheel 142 is configured to be in rolling engagement with the side wall of the track groove. Through the cooperation of the first supporting wheels 141 and the second supporting wheels 142, the frame 13 can be always positioned in the track groove of the cloud track 40, and can play a certain guiding role in the advancing process, so that the vehicle can easily turn and cut the track to pass through. For example, as shown in fig. 8, the frame 13 has a substantially rectangular frame-shaped structure, a first support wheel 141 is mounted at the front and rear of each side support plate 131, and a second support wheel 142 is mounted at a position of each side support plate 131 adjacent to the first support wheel 141, that is, four first support wheels 141 and four second support wheels 142 are symmetrically mounted at opposite sides of the frame 13, so that the frame 13 can be supported more stably.

In addition, a suspension bracket is mounted on the frame 13 to facilitate mounting of the lifting mechanism 30. For example, as shown in fig. 4, the suspension bracket includes a mounting plate disposed below the frame 13 at an interval, and two connecting arms disposed on opposite sides of the mounting plate, top ends of the two connecting arms are respectively connected and fixed to front and rear sides of the frame 13, a mounting space for mounting the lifting mechanism 30 is formed between the two connecting arms and the mounting plate, and the lifting mechanism 30 is fixed to the mounting plate. In addition, the charging sheath 12 may be fixed to the bottom of the mounting plate.

When the traditional intelligent dining car needs to be stopped emergently in a special situation, the traditional intelligent dining car is generally controlled by controlling the speed reduction and the braking of the driving part 152, and the supporting wheel component is in a free state, so that the traditional intelligent dining car often slips due to insufficient braking force and cannot be stopped immediately. In order to further increase the braking force, the traveling mechanism 10 further includes a brake 132 mounted on the frame 13, and the brake 132 can brake the first support wheel 141 and/or the second support wheel 142. So, when making the braking of drive wheel 151, first supporting wheel 141 and/or second supporting wheel 142 also can brake for the whole brake force increase of intelligence serving trolley can effectively avoid skidding because of the not enough production of brake force.

In one embodiment, as shown in fig. 5, the brake 132 is used to brake the first supporting wheel 141 diagonally opposite to the driving wheel 151, so as to form front and rear diagonal braking, thereby further improving the braking effect. Specifically, the first support wheel 141 is rotatably mounted to the side support plate 131 through a rotation shaft, the stopper 132 is fixed to the side support plate 131, and the stopper 132 can clamp or release the rotation shaft of the first support wheel 141. During normal traveling, the brake 132 is separated from the rotating shaft, and the rotating shaft can rotate the first supporting wheel 141. When the emergency stop is needed, the brake 132 acts to clamp the rotating shaft, so that the rotating shaft stops rotating, and the intelligent dining car is accelerated to stop by generating braking force. The brake 132 includes, but is not limited to, an electromagnetic brake or other mechanical brake.

Alternatively, the brake 132 is an electromagnetic brake, and the brake 132 includes a brake hub fixedly connected to the rotating shaft, and two brake pads located on opposite sides of the brake hub, and the two brake pads can move toward or away from each other to clamp or release the brake hub. Specifically, when the power is turned on, the brake pads of the brake 132 are separated from the brake hub, and the brake hub can rotate along with the rotating shaft, and when the power is turned off, the two brake pads approach each other to clamp the brake hub, so that the rotating shaft stops rotating, and the braking force is generated. The electromagnetic brake is adopted for braking, the control process is simple, and the braking effect is better.

Further, in order to ensure the operation safety of the intelligent serving trolley, the travelling mechanism 10 further comprises a travelling detection element 17 connected with the trolley frame 13, and the travelling detection element 17 is used for detecting the condition of the cloud rail 40 in the process of the trolley frame 13. Carry out real-time detection to the condition of cloud rail 40 through the detecting element 17 of marcing to with the control system of detection information feedback to intelligent serving trolley, so, when appearing breaking circuit, can in time park, can avoid taking place to derail. The travel detection element 17 includes, but is not limited to, a vision sensor, a laser radar, or the like.

Further, the vehicle body frame 13 is provided with a first impact beam 133 and a second impact beam 134 on opposite sides in the traveling direction, respectively, and the first impact beam 133 and the second impact beam 134 serve to cushion when colliding with an obstacle. As described above, when the vehicle body frame 13 moves forward or backward along the cloud rail 40 and collides with an obstacle, the first collision beam 133 or the second collision beam 134 can provide a certain cushioning effect, thereby reducing collision damage.

Further, the traveling mechanism 10 further includes a collision detection switch 138, and the collision detection switch 138 is capable of triggering a braking operation when the first collision beam 133 and/or the second collision beam 134 collide. Therefore, the intelligent dining car can be forcibly stopped.

In a specific embodiment, as shown in fig. 8, the frame 13 further includes two end plates 135 disposed opposite to each other in the traveling direction of the frame 13, the first collision beam 133 is disposed opposite to one of the end plates 135 at an interval and connected to the one of the end plates 135 through a connecting shaft 136, one end of the connecting shaft 136 is fixedly connected to the first collision beam 133, the other end of the connecting shaft 136 movably penetrates through the end plate 135, an elastic member 137 is sleeved on the connecting shaft 136, and two ends of the elastic member 137 are elastically abutted to the first collision beam 133 and the end plate 135, respectively. When the first impact beam 133 collides with an obstacle, the first impact beam 133 can drive the connecting shaft 136 to move toward one side of the end plate 135, and the elastic member 137 is compressed to convert the collision energy into elastic potential energy, thereby playing a certain role in buffering. Alternatively, the collision detection switch 138 is provided on the side of the end plate 135 away from the first collision beam 133, and is provided corresponding to the free end of the connecting shaft 136, and when a collision occurs, the connecting shaft 136 moves toward the side of the end plate 135 to trigger the collision detection switch 138. The elastic member 137 includes, but is not limited to, a spring or an elastic rubber sleeve.

In addition, in order to avoid the occurrence of collision as much as possible, as shown in fig. 2, the traveling mechanism 10 further includes a collision avoidance detecting element 18, and the collision avoidance detecting element 18 is configured to detect an obstacle condition on the front side of the traveling direction of the traveling mechanism 10 and feed back the detection information to the control system of the intelligent dining car. For example, in the process of traveling, when the collision avoidance detecting element 18 detects that an obstacle (such as an object or a trolley) exists in front of the intelligent dining car, and the distance between the obstacle and the trolley is smaller than the safety distance, the detection information is fed back to the control system, and the control system can control the intelligent dining car to decelerate and wait in advance, so that advance prevention can be achieved, collision is avoided, and the operation safety is further guaranteed. The collision avoidance detection element 18 includes, but is not limited to, a laser radar, an ultrasonic radar, or the like.

Further, the traveling mechanism 10 further comprises a position detection element 19 arranged on the frame 13, and the position detection element 19 is used for identifying the current position information of the traveling mechanism 10 and feeding the current position information back to the control system of the intelligent serving trolley. Therefore, information interaction between the intelligent food serving trolley and the control system can be realized, and the running position of the intelligent food serving trolley is monitored in real time. For example, the position detecting element 19 may be a dock, a tag storing position information may be disposed on the cloud rail 40, and the current position information may be obtained by scanning the tag with the dock.

Fig. 9 to fig. 11 are schematic structural views illustrating a loading mechanism of an intelligent dining car according to an embodiment of the present invention. In an embodiment, the carrying mechanism 20 further includes a box 22, a door 23, a driver 24 and a self-locking assembly 25, the box 22 is provided with a pick-and-place opening, the door 23 is movably connected to the box 22, the door 23 is used for opening or closing the pick-and-place opening, the driver 24 is used for driving the door 23 to switch between an open position (shown in fig. 10) and a closed position (shown in fig. 9), the self-locking assembly 25 is used for locking or unlocking the door 23 and the box 22, the driver 24 and the self-locking assembly 25 are respectively electrically connected to the control circuit, and the charging element (the charging pile 21) is disposed at the top of the box 22. The control circuit controls the operation states of the driver 24 and the self-locking assembly 25, so as to ensure that the carrying mechanism 20 can orderly carry out a series of automatic operations of unlocking the door 23, opening the door 23, closing the door 23 and locking the door 23 according to a preset flow. In the food delivery process, the box door 23 is locked with the box body 22, so that the food in the box body 22 can be well protected, and the problem that the food falls off in the food delivery process is avoided; when carrying thing mechanism 20 and descending to customer's dining table after, auto-lock subassembly 25 with chamber door 23 and box 22 unblock, then driver 24 drive chamber door 23 move to the position of opening the door, customer alright from getting put mouthful department and take out the food, so, can avoid customer's manual unblock and open chamber door 23, can effectively promote the convenience of use, promote customer and have a dinner and experience. The driver 24 includes, but is not limited to, a steering engine or a servo motor. The self-locking assembly 25 includes, but is not limited to, a mechanical lock or an electromagnetic lock, etc.

Optionally, the box 22 is provided with a pick-and-place opening on two opposite sides, a box door 23 is mounted on the box 22 at a position corresponding to each pick-and-place opening, and each box door 23 is independently equipped with a driver 24 and a self-locking assembly 25. Therefore, the single-side door or the double-side door can be selected according to actual conditions, so that customers can conveniently take meals in any direction.

Further, as shown in fig. 10 and 11, the box body 22 includes a housing 221 and an electric control box disposed on the top of the housing 221, and the driver 24 and the self-locking assembly 25 are mounted in the electric control box. Specifically, the housing 221 is substantially U-shaped, and the housing 221 may be formed by integrally bending a sheet metal, and may be manufactured by a simple process, and may have a structural strength, or may be made of plastic. In order to further enhance the structural strength of the box body 22, a support frame is further disposed inside the casing 221, and the support frame may be made of aluminum alloy or engineering plastic. The enclosure between the shell 221 and the electric control box forms a space for loading food, and the two opposite opening sides of the shell 221 respectively form a taking and placing opening. Therefore, electrical components such as the driver 24 and the self-locking assembly 25 can be independently installed in the electric control box, and the electrical components can be well protected. Optionally, the electronic control box comprises a box body 222 with an open top and a top cover 223 arranged on the top of the box body 222 in a covering and uncovering manner, when the internal electrical components need to be overhauled and maintained, the top cover 223 only needs to be opened from the top of the box body 22, and the operation is simple and convenient.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.