A stair climbing robot for dining room
阅读说明：本技术 一种用于餐厅的爬楼机器人 (A stair climbing robot for dining room ) 是由 朱永刚 刘安东 刘士杰 于 2019-11-14 设计创作，主要内容包括：本发明提出的一种用于餐厅的爬楼机器人,包括：基座、送餐台、第一升降组件、第二升降组件、履带式行走组件和控制器,基座上设有定位器,第一升降组件和第二升降组件对称布置在基座上表面,送餐台底部两侧分别与第一升降组件顶部和第二升降组件顶部铰接,履带式行走组件布置在基座底部,定位器信号连接控制器,控制器分别控制连接第一升降组件、第二升降组件和履带式行走组件。本发明通过履带式行走组件快速进行爬楼,并通过第一升降组件和第二升降组件的动作使送餐台始终保持水平可避免餐品或所放物品倾斜以及掉落。(The invention provides a stair climbing robot for a restaurant, which comprises: the base, send the dining table, first lifting unit, the second lifting unit, crawler-type walking subassembly and controller, be equipped with the locator on the base, first lifting unit and second lifting unit symmetrical arrangement are at the base upper surface, send dining table bottom both sides respectively with first lifting unit top and second lifting unit top articulated, crawler-type walking subassembly arranges in the base bottom, locator signal connection controller, the first lifting unit of controller difference control connection, second lifting unit and crawler-type walking subassembly. According to the invention, stairs can be quickly climbed through the crawler-type walking assembly, and the meal delivery platform is always kept horizontal through the actions of the first lifting assembly and the second lifting assembly, so that the meal or placed articles can be prevented from inclining and falling.)
1. A stair climbing robot for a restaurant, comprising: the food delivery device comprises a base (1), a food delivery table (2), a first lifting assembly, a second lifting assembly, a crawler-type walking assembly and a controller;
be equipped with the locator on base (1), first lifting unit and second lifting unit symmetry articulate in base (1) upper surface, send dining-table (2) bottom both sides respectively with first lifting unit top and second lifting unit top fixed connection, crawler-type walking subassembly arranges in base (1) bottom, locator signal connection controller, first lifting unit of controller difference control connection, second lifting unit and crawler-type walking subassembly.
2. The stair climbing robot for a restaurant according to claim 1, further comprising a third lift assembly, a fourth lift assembly, a first roller-type moving assembly, and a second roller-type moving assembly;
the third lifting component is arranged at the first side of the base (1), the fourth lifting component is arranged at the second side of the base (1), the first roller type moving component is arranged on the third lifting component and driven by the third lifting component to move up and down, the second roller type moving component is arranged on the fourth lifting component and driven by the fourth lifting component to move up and down, and the controller is respectively connected with the third lifting component, the fourth lifting component, the first roller type moving component and the second roller type moving component in a control mode.
3. The stair climbing robot for a restaurant according to claim 2, wherein the first moving assembly comprises a first motor (7), a first transmission chain (5), a first driving gear (4), a first driving roller (3), a first driven roller (8), a first rotating shaft, a second rotating shaft, and a first connecting plate (6);
the first connecting plate (6) is arranged on the third lifting assembly and can be driven by the third lifting assembly to move up and down, one end of a first rotating shaft is rotatably connected with the first end of the first connecting plate (6), the other end of the first rotating shaft is fixedly connected with the first driving roller (3), one end of a second rotating shaft is rotatably connected with the second end of the first connecting plate (6), the other end of the second rotating shaft is fixedly connected with a first driven roller (8), external teeth are arranged on the first rotating shaft along the circumferential direction, external teeth are arranged on the second rotating shaft along the circumferential direction, a first motor (7) is arranged on the first connecting plate (6), an output shaft of the first motor (7) is fixedly connected with a first driving gear (4), and the first driving gear (4), the external teeth of the first rotating shaft and the external teeth of the second rotating shaft are in transmission connection;
the second roller moving assembly comprises a second motor, a second transmission chain, a second driving gear, a second driving roller, a second driven roller, a third rotating shaft, a fourth rotating shaft and a second connecting plate, the second connecting plate is arranged on the fourth lifting assembly and can be driven by the fourth lifting assembly, one end of the third rotating shaft is rotatably connected with the first end of the second connecting plate, the other end of the third rotating shaft is fixedly connected with the second driving roller, one end of the fourth rotating shaft is rotatably connected with the second end of the second connecting plate, the other end of the fourth rotating shaft is fixedly connected with the second driven roller, outer teeth are circumferentially arranged on the third rotating shaft, outer teeth are circumferentially arranged on the fourth rotating shaft, the second motor is arranged on the second connecting plate, an output shaft of the second motor is fixedly connected with the second driving gear, and the second driving gear, the outer teeth of the third rotating shaft and the outer teeth of the fourth rotating shaft are.
4. A stair climbing robot for a restaurant according to claim 3, characterized in that the first driving wheel and/or the first driven roller (8) is provided with a locking assembly and the second driving wheel and/or the second driven roller is provided with a locking assembly.
5. The stair climbing robot for the restaurant according to claim 3, wherein the third lifting assembly comprises a third motor (9) and a first stud (10), a first accommodating groove with an open first side face is formed in a first side of the base (1), the third motor (9) is arranged at the base (1) at the top of the first accommodating groove, a first end of the first stud (10) is fixedly connected with an output shaft of the third motor (9), a second end of the first stud (10) penetrates through the first accommodating groove from top to bottom and is rotatably connected with the bottom of the first accommodating groove, a first sliding block matched with the first accommodating groove is arranged on the first connecting plate (6), a first inner threaded hole matched with the first stud (10) is formed in the first sliding block, the first sliding block is in threaded connection with the first inner threaded hole, and is in sliding connection with the first accommodating groove;
the fourth lifting assembly comprises a fourth motor and a second stud, a second accommodating groove with an open second side face is formed in the second side of the base (1), the fourth motor is arranged at the position of the base (1) at the top of the second accommodating groove, the first end of the second stud is fixedly connected with an output shaft of the fourth motor, the second end of the second stud runs through the second accommodating groove from top to bottom and is rotatably connected with the bottom of the second accommodating groove, a second connecting plate is provided with a second sliding block matched with the second accommodating groove, a second inner threaded hole matched with the second stud is formed in the second sliding block, the second sliding block is in threaded connection with the second inner threaded hole, and the second sliding block is in sliding connection with the second accommodating groove.
6. The stair climbing robot for a restaurant according to claim 1, wherein the dining table (2) is provided with a human-computer interaction display screen and a voice prompter.
7. The stair climbing robot for a restaurant according to claim 1, wherein a spring is provided between the base (1) and the dining table (2).
8. The stair climbing robot for a restaurant according to claim 1, wherein one or more distance detectors are provided on the base (1), the distance detectors being in signal communication with the controller.
9. The stair climbing robot for a restaurant according to claim 1, wherein the dining table (2) is provided with an inclination sensor, and the inclination sensor is in signal connection with the controller.
Technical Field
The invention relates to the technical field of carrying robots, in particular to a stair climbing robot for a restaurant.
Background
With the development of modernization, the catering industry is diversified more and more, a plurality of intelligent elements are gradually added into a common restaurant, the intelligent food delivery robot not only can reduce the labor cost, but also can play a role in attracting customers, but the food delivery robot on the market can only move on the flat ground at present, the structure of a large-scale restaurant is complex, stairs are provided, and the food delivery robot is inconvenient to deliver food.
Disclosure of Invention
Based on the technical problems in the background art, the invention provides a stair climbing robot for a restaurant.
The invention provides a stair climbing robot for a restaurant, which comprises: the device comprises a base, a dining table, a first lifting component, a second lifting component, a crawler-type walking component and a controller;
the base is provided with a positioner, the first lifting assembly and the second lifting assembly are symmetrically hinged on the upper surface of the base, and two sides of the bottom of the food delivery table are fixedly connected with the top of the first lifting assembly and the top of the second lifting assembly respectively;
the crawler-type walking assembly is arranged at the bottom of the base, the positioner is in signal connection with the controller, and the controller is respectively in control connection with the first lifting assembly, the second lifting assembly and the crawler-type walking assembly.
Preferably, the lifting device further comprises a third lifting assembly, a fourth lifting assembly, a first roller type moving assembly and a second roller type moving assembly;
the third lifting assembly is arranged on the first side of the base, the fourth lifting assembly is arranged on the second side of the base, the first roller type moving assembly is arranged on the third lifting assembly and driven by the third lifting assembly to move up and down, the second roller type moving assembly is arranged on the fourth lifting assembly and driven by the fourth lifting assembly to move up and down, and the controller is respectively connected with the third lifting assembly, the fourth lifting assembly, the first roller type moving assembly and the second roller type moving assembly in a control mode.
Preferably, one or more distance detectors are arranged on the base, and the distance detectors are in signal connection with the controller.
Preferably, the first moving assembly comprises a first motor, a first transmission chain, a first driving gear, a first driving roller, a first driven roller, a first rotating shaft, a second rotating shaft and a first connecting plate;
the first connecting plate is arranged on the third lifting assembly and can be driven by the third lifting assembly to move up and down, one end of a first rotating shaft is rotatably connected with the first end of the first connecting plate, the other end of the first rotating shaft is fixedly connected with a first driving roller, one end of a second rotating shaft is rotatably connected with the second end of the first connecting plate, the other end of the second rotating shaft is fixedly connected with a first driven roller, external teeth are arranged on the first rotating shaft along the circumferential direction, external teeth are arranged on the second rotating shaft along the circumferential direction, a first motor is arranged on the first connecting plate, an output shaft of the first motor is fixedly connected with the first driving gear, and the first driving gear, the external teeth of the first rotating shaft and the external;
the second roller moving assembly comprises a second motor, a second transmission chain, a second driving gear, a second driving roller, a second driven roller, a third rotating shaft, a fourth rotating shaft and a second connecting plate, the second connecting plate is arranged on the fourth lifting assembly and can be driven by the fourth lifting assembly, one end of the third rotating shaft is rotatably connected with the first end of the second connecting plate, the other end of the third rotating shaft is fixedly connected with the second driving roller, one end of the fourth rotating shaft is rotatably connected with the second end of the second connecting plate, the other end of the fourth rotating shaft is fixedly connected with the second driven roller, outer teeth are circumferentially arranged on the third rotating shaft, outer teeth are circumferentially arranged on the fourth rotating shaft, the second motor is arranged on the second connecting plate, an output shaft of the second motor is fixedly connected with the second driving gear, and the second driving gear, the outer teeth of the third rotating shaft and the outer teeth of the fourth rotating shaft are.
Preferably, the first driving wheel and/or the first driven roller are/is provided with a locking assembly, and the second driving roller and/or the second driven roller are/is provided with a locking assembly.
Preferably, the third lifting assembly comprises a third motor and a first stud, a first accommodating groove with an opening on a first side surface is formed in the first side of the base, the third motor is arranged at the top of the first accommodating groove, the first end of the first stud is fixedly connected with an output shaft of the third motor, the second end of the first stud penetrates through the first accommodating groove from top to bottom and is rotatably connected with the bottom of the first accommodating groove, a first sliding block matched with the first accommodating groove is arranged on the first connecting plate, a first internal threaded hole matched with the first stud is formed in the first sliding block, the first sliding block is in threaded connection with the first internal threaded hole, and the first sliding block is in sliding connection with the first accommodating groove;
the fourth lifting assembly comprises a fourth motor and a second stud, a second accommodating groove with an open second side face is formed in the second side of the base, the fourth motor is arranged at the top of the base of the second accommodating groove, the first end of the second stud is fixedly connected with an output shaft of the fourth motor, the second end of the second stud penetrates through the second accommodating groove from top to bottom and is rotatably connected with the bottom of the second accommodating groove, a second connecting plate is provided with a second sliding block matched with the second accommodating groove, the second sliding block is provided with a second internal threaded hole matched with the second stud, the second sliding block is in threaded connection with the second internal threaded hole, and the second sliding block is in sliding connection with the second accommodating groove.
Preferably, a man-machine interaction display screen and a voice prompter are arranged on the food delivery table.
Preferably, a spring is arranged between the base and the meal delivery platform.
Preferably, the food delivery table is provided with an inclination angle sensor, and the inclination angle sensor is in signal connection with the controller.
Compared with the prior art, the invention has the following beneficial effects:
(1) climb the building fast through crawler-type running gear to the action through first lifting unit and second lifting unit makes the food delivery platform remain the level throughout and can avoid food or the article slope of putting and drop.
(2) The lifting ground roller type moving assembly can be arranged to quickly climb the stairs and simultaneously avoid damaging the floor when moving on the flat ground.
Drawings
Fig. 1 is a schematic structural diagram of a stair climbing robot for a restaurant according to the present invention.
Fig. 2 is a left schematic view of a stair climbing robot for a restaurant according to the present invention.
Detailed Description
Referring to fig. 1 and 2, the present invention provides a stair climbing robot for a restaurant, including: the method comprises the following steps: the food delivery device comprises a
the automatic food delivery table is characterized in that a positioner is arranged on the
When going upstairs and downstairs, the crawler-type traveling assembly is controlled by the controller to climb the stairs, and the controller simultaneously controls the first lifting assembly or the second lifting assembly to work so that the meal delivery table 2 keeps horizontal in the stair climbing process, thereby avoiding frequent meals or inclined and even falling of placed articles; when the flat ground is about to be reached, the controller controls the first lifting assembly and the second lifting assembly to work simultaneously so as to keep the dining table 2 horizontal. In the moving process, the controller respectively controls the corresponding mechanisms to work to complete corresponding actions according to the position information obtained by the positioner, so that the stair climbing device can automatically climb stairs, and the
In order to avoid the damage of the floor caused by the crawler, in a specific embodiment, the crawler type floor further comprises a third lifting assembly, a fourth lifting assembly, a first roller type moving assembly and a second roller type moving assembly;
the third lifting assembly is arranged on the first side of the
When going upstairs and downstairs, the controller controls the third lifting assembly and the fourth lifting assembly to work so as to drive the first roller type moving assembly and the second roller type moving assembly to move upwards, so that the crawler type walking assembly is in contact with the ground to climb the stairs, and when going flatly, the controller controls the third lifting assembly and the fourth lifting assembly to work so as to drive the first roller type moving assembly and the second roller type moving assembly to move downwards and to be in contact with the ground, and then the controller controls the first roller type moving assembly and the second roller type moving assembly to move, so that the floor can be prevented from being damaged by a crawler.
In order to make the robot climb or detour after encountering obstacles, in a specific embodiment, one or more distance detectors are arranged on the
In order to facilitate climbing stairs, in a specific embodiment, the first moving assembly includes a
the first connecting
the second roller moving assembly comprises a second motor, a second transmission chain, a second driving gear and a second driving roller, the second driven roller, the third pivot, fourth pivot and second connecting plate, the second connecting plate sets up in fourth lifting unit and can be driven and go up by it, third pivot one end rotates with second connecting plate first end to be connected, the other end and second initiative gyro wheel fixed connection, fourth pivot one end rotates with second connecting plate second end to be connected, the other end and second driven roller fixed connection, the third pivot is equipped with the external tooth along circumference, the fourth pivot is equipped with the external tooth along circumference, the second motor sets up on the second connecting plate, the output shaft and the second driving gear fixed connection of second motor, the second driving gear, the external tooth of third pivot and the external tooth of fourth pivot pass through second transmission chain drive connection, the
In order to avoid the robot moving randomly after stopping moving, in a specific embodiment, the first driving wheel and/or the first driven
In a further specific embodiment, the third lifting assembly comprises a
the fourth lifting assembly comprises a fourth motor and a second stud, a second accommodating groove with an open second side is formed in the second side of the
The controller controls the
In order to facilitate the control of the robot to work, in a specific embodiment, a human-computer interaction display screen and a voice prompt are arranged on the food delivery table 2.
In the specific embodiment, a spring is arranged between the
In order to keep the dining table 2 in a horizontal state all the time, in the specific embodiment, the dining table 2 is provided with an inclination angle sensor, and the inclination angle sensor is in signal connection with a controller. The controller controls the first lifting assembly and the second lifting assembly to work according to data detected by the inclination angle sensor.
In practical use, the first lifting assembly comprises two first
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
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