Bowl conveying device and bowl storing and taking robot
阅读说明:本技术 碗具传送装置以及碗具存取机器人 (Bowl conveying device and bowl storing and taking robot ) 是由 盛成俊 王维强 陈荣龙 杨琪文 杨斌 邹娜 宫晶 钱烨 李海 闫秀成 于 2019-11-07 设计创作,主要内容包括:本发明公开了一种碗具传送装置以及碗具存取机器人,碗具传送装置包括:支架以及多个摞碗板;所述摞碗板滑动安装于支架,其中,一个以上摞碗板滑动推动剩余的摞碗板相互挤靠前进。碗具存取机器人包括碗具传送装置以及碗具抓取机械手;所述碗具抓取机械手用于抓取碗具传送装置上的碗具,并且送到特地位置。(The invention discloses a bowl conveying device and a bowl storing and taking robot, wherein the bowl conveying device comprises: a bracket and a plurality of bowl stacking plates; the bowl stacking plates are slidably mounted on the support, wherein more than one bowl stacking plate slidably pushes the rest bowl stacking plates to be mutually extruded and move forward. The bowl storing and taking robot comprises a bowl conveying device and a bowl grabbing manipulator; the bowl grabbing mechanical arm is used for grabbing bowls on the bowl conveying device and conveying the bowls to a special position.)
1. Bowl utensil conveyer, its characterized in that includes: a bracket (10) and a plurality of bowl plates (20);
the bowl stacking plates (20) are arranged on the support (10) in a sliding mode, wherein more than one bowl stacking plate (20) pushes the rest bowl stacking plates (20) to move forward in a pushing mode.
2. Bowl conveyor according to claim 1, characterized in that the direction of advance of the stack of bowl plates (20) comprises a first direction and a second direction intersecting each other;
the stack of bowl plates (20) advances in a first direction to the intersection and then in a second direction.
3. The bowl conveyor of claim 2 wherein the first and second directions provide first and second powers, respectively;
the first power moves in a first direction to push the bowl stacking plate (20) to advance in the first direction; the second power moves in a second direction to push the bowl stacking plate (20) to advance in the second direction;
after the first power pushes the bowl stacking plate (20) to advance to the intersection of the first direction and the second direction in the first direction, the second power pushes the bowl stacking plate (20) to advance in the second direction.
4. Bowl conveyor according to any one of claims 2-3, characterized in that the first power pushes the stack of individual plates (20) in a first direction, whereby the stack of individual plates (20) pushes the remaining stack of plates (20) in the first direction;
the second power pushes the single-piece bowl stacking plate (20) to move in the second direction, so that the single-piece bowl stacking plate (20) pushes the rest bowl stacking plate (20) to move in the second direction.
5. The bowl conveying device according to claim 2, further comprising a third direction and a fourth direction, wherein the first direction, the second direction, the third direction and the fourth direction intersect end to form a square track for the movement of the stack of bowl plates (20);
the plurality of bowl plates (20) are mutually pressed and advance in the first direction and then the second direction, advance in the second direction and then the third direction, advance in the third direction and then the fourth direction, and advance in the first direction and then the fourth direction.
6. Bowl conveying device according to claim 5, characterized in that the rack (10) is provided with a square rail (101), and the stack of bowl plates (20) is slidably mounted on the square rail (101);
after the plurality of bowl stacking plates (20) are arranged on the square rail (101), a vacant position of one bowl stacking plate (20) is reserved in the square rail (101).
7. Bowl conveying device according to claim 6, characterized in that said square track (101) has four sides corresponding to a first direction, a second direction, a third direction and a fourth direction;
wherein, the first direction is provided with a first power to push the bowl stacking plate (20) to advance to the intersection of the first direction and the second direction; a second power is arranged in the second direction to push the stacked bowl plates (20) at the intersection of the first direction and the second direction to the intersection of the second direction and the third direction; third power is arranged in the third direction to push the bowl stacking plate (20) at the intersection of the second direction and the third direction to the intersection of the third direction and the fourth direction; the fourth direction is provided with a fourth power to push the stack of bowl plates (20) at the intersection of the third direction and the fourth direction to the intersection of the fourth direction and the first direction.
8. The bowl conveying device according to claim 7, characterized in that a stopper (202) is arranged at the bottom of the bowl stacking plate (20), and a first power, a second power, a third power or a fourth power pushes the stopper (202) to move, so that the bowl stacking plate (20) is driven to slide on the square track (101).
9. Bowl conveyor according to any one of claims 1-3 and 5-8, characterized in that the stack of bowl plates (20) is provided with ball transfer bearings, which are in contact with the carrier (10).
10. Bowl utensil access robot, its characterized in that includes: a bowl transfer device and a bowl gripping robot as claimed in any one of claims 1 to 9;
the bowl grabbing mechanical arm is used for grabbing bowls on the bowl conveying device and conveying the bowls to a specific position.
11. The bowl access robot of claim 10, wherein the bowl gripping robot comprises: more than three gripping devices (301) corresponding to the opening edge of the bowl;
the grabbing device (301) comprises a pressure rising and dropping plate (3013) and a jaw (3011);
the bowl grabbing manipulator moves right above the bowl and then descends to an appropriate height, the pressure rising and lowering plate (3013) descends to the edge of the bowl opening of the bowl right below and presses the edge of the bowl opening of the bowl, the claw (3011) acts, after the outer wall of the bowl is clamped, the bowl grabbing manipulator ascends, and the clamped bowl is sent to a specific position.
Technical Field
The invention relates to a bowl conveying device and a bowl storing and taking robot.
Background
The technology of conveying and storing bowls is often involved in the automatic selling and intelligent catering industries, and Chinese patent: 201711330005.0 discloses a bowl conveying device, which adopts the total power of a motor and forms a total-fractal type transmission system through components such as gears, chains, chain wheels and the like, and finally, each bowl stacking plate is conveyed to the bowl; however, the transmission system of this technique is too long and complex.
Disclosure of Invention
In order to solve the above problems, the present invention provides another bowl conveying device and bowl storing and taking robot technology.
The bowl conveying device provided by the invention comprises: a bracket and a plurality of bowl stacking plates; the bowl stacking plates are slidably mounted on the support, wherein more than one bowl stacking plate slidably pushes the rest bowl stacking plates to be mutually extruded and move forward.
The track is limited, the bowl stacking plates can freely slide in the required track, part of the bowl stacking plates (for example, one bowl stacking plate) are pushed, the pushed bowl stacking plates advance and then touch the adjacent bowl stacking plates to advance, the adjacent bowl stacking plates further touch the next adjacent bowl stacking plate to advance, and finally the purpose of conveying the bowl stacking plates is achieved.
In some embodiments, the direction of advancement of the stack of plates includes a first direction and a second direction that intersect one another; the bowl stacking plate advances in a first direction to the intersection and then advances in a second direction.
The place where the two advancing directions (namely, the first direction and the second direction) meet is the position of one bowl stacking plate, and the bowl stacking plate moving in the first direction is pushed to the position of the bowl stacking plate at the meeting place so as to push the bowl stacking plate into the second direction to advance and convey bowls.
In some embodiments, the first and second directions provide first and second powers, respectively; the first power moves in a first direction to push the bowl stacking plate to advance in the first direction; the second power moves in a second direction to push the bowl stacking plate to advance in the second direction;
after the first power pushes the stacked bowl plates to advance to the intersection of the first direction and the second direction in the first direction, the second power pushes the stacked bowl plates to advance in the second direction.
In some embodiments, the first power pushes the stack of single plates to move in a first direction, so that the stack of single plates pushes the rest of the stack of plates to move in the first direction; the second power pushes the single bowl stacking plate to move in the second direction, so that the single bowl stacking plate pushes the rest bowl stacking plate to move in the second direction.
In some specific embodiments, the bowl plate stacking device further comprises a third direction and a fourth direction, and the first direction, the second direction, the third direction and the fourth direction intersect end to form a square track for the bowl plates to move; the plurality of bowl plates are mutually extruded and advance in the first direction, then advance in the second direction, advance in the third direction, advance in the fourth direction, advance in the first direction, advance in the fourth direction.
The bowl stacking plates can slide in a closed loop mode on a square track, bowls are stacked on the bowl stacking plates (a stack of bowls can be stacked on each bowl stacking plate), the bowl stacking plates transmit the bowls to specific positions to be taken, the bowls slide after being taken, so that the next bowl stacking plate which is full of the bowls is conveyed to the bowl taking position to be taken, the bowls are taken, meanwhile, the bowl stacking plates which are full of the bowls are taken to follow circulation, and the bowls are added again until the bowls are positioned in a specified position to be circulated for bowl supply.
In some embodiments, the bracket is provided with a square rail, and the stack of bowl plates are slidably mounted on the square rail; after the plurality of bowl stacking plates are arranged on the square rails, the spare positions of the bowl stacking plates are reserved on the square rails.
A plurality of bowl stacking plates circularly flow (move) on the square track, and the position (namely the vacant position) of only one bowl stacking plate is moved in each circulation. The design has the consideration of efficiency and space.
In some embodiments, four sides of the square track correspond to a first direction, a second direction, a third direction, and a fourth direction; the bowl stacking plate comprises a first direction, a second direction and a third direction, wherein the first direction is provided with a first power to push the bowl stacking plate to advance to the intersection of the first direction and the second direction; a second power is arranged in the second direction to push the stacked bowl plates at the intersection of the first direction and the second direction to the intersection of the second direction and the third direction; third power is arranged in the third direction, so that the bowl stacking plate at the intersection of the second direction and the third direction is pushed to the intersection of the third direction and the fourth direction; the fourth direction is provided with a fourth power to push the stack of bowl plates at the intersection of the third direction and the fourth direction to the intersection of the fourth direction and the first direction.
In some embodiments, a stopper is arranged at the bottom of the stack of bowl plates, and the first power, the second power, the third power or the fourth power pushes the stopper to move, so that the stack of bowl plates are driven to slide on the square rail.
In some embodiments, the stack of bowl plates is provided with a ball transfer bearing, and the ball transfer bearing is in contact with the support. The universal ball can reduce the friction between the bowl stacking plate and the bracket.
In addition, the invention also provides a bowl storing and taking robot, which comprises: any one of the bowl conveying device and the bowl grabbing manipulator; the bowl grabbing mechanical arm is used for grabbing bowls on the bowl conveying device and conveying the bowls to a special position.
In some embodiments, the dish gripping robot comprises: more than three gripping devices which are matched with the opening edge of the bowl; the gripping device comprises a pressure rising and reducing plate and a jaw; the bowl grabbing mechanical arm moves to the position right above the bowl and then descends to the adaptive height, the lifting pressing plate descends to the edge of the bowl opening of the bowl right below and presses the edge of the bowl opening, the clamping claw acts to clamp the outer wall of the bowl, and the bowl grabbing mechanical arm ascends and sends the clamped bowl to a specific position.
According to the technical scheme, the gripping device presses the upper edge of the bowl mouth of the bowl to be gripped through the pressure rising and reducing plate before the bowl is gripped, so that the bowl can be effectively prevented from shaking or shifting, the bowl can be accurately taken, and the fault rate of bowl taking is reduced.
Drawings
FIG. 1 is an exploded view of a bowl conveying device according to an embodiment of the present invention;
FIG. 2 is a perspective view of the bowl conveyor of FIG. 1;
FIG. 3 is a schematic view of the operation of the bowl conveying device according to one embodiment of the present invention;
FIGS. 4 and 5 are schematic views illustrating the operation of a bowl conveying device according to another embodiment of the present invention;
FIG. 6 is a schematic view of a rack of a bowl conveyor according to an embodiment of the invention;
FIG. 7 is a schematic diagram illustrating the movement principle of the stacking plate according to an embodiment of the present invention;
FIG. 8 is a schematic view of a bowl access robot according to an embodiment of the present invention;
fig. 9 and 10 are schematic diagrams illustrating the bowl grabbing principle of the bowl storing and taking robot in fig. 8.
Detailed Description
The invention will be further elucidated with reference to the drawing.
The drawings are for illustrative purposes only and are not to be construed as limiting the patent; for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
In the description of the invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted" and "connected" are to be interpreted broadly, e.g. as being fixed or detachable or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, so to speak, as communicating between the two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art. The technical scheme of the invention is further explained by combining the drawings and the embodiment.
In fig. 2, for convenience of principle description, each of the
referring to fig. 1 and 2, a bowl conveying device according to an embodiment of the present invention includes: a
Referring to fig. 3, the principle of the present technical idea is illustrated as a specific embodiment: in the drawings, four
Further, the advancing direction of the stack of
Referring to fig. 4, the principle of the present technical idea is illustrated as a specific embodiment: assuming that the first direction is the direction st in the drawing, the second direction is the direction st1 in the drawing, the intersection of the first direction st and the second direction st1 is a right angle (shown in fig. 4, the position of the stack plate a 4), in the drawing, after the stack plate a4 is pushed to the right angle position, the stack bowl a4 is pushed in the second direction (indicated by arrow st 1) along the st1 direction, and then, the stack bowl A3 is pushed in the right angle position along the first direction st, then, the stack of bowl plates A3 is pushed in the second direction st1 (indicated by arrow st 1), and similarly, the stack of bowl plates a2 is pushed in the right angle position in the first direction st, then the stack of bowl plates a2 is pushed into the second direction along the st1 direction (indicated by arrow st1 in the figure), the stack of bowl plates a1 is pushed into the right-angle position along the first direction st, and then the stack of bowl plates a1 is pushed into the second direction along the st1 direction (indicated by arrow st1 in the figure); in the process, when one bowl stacking plate enters the right angle, the bowl stacking plate at the right angle is pushed away along the st1 direction to enter the first direction, so that the position of one bowl stacking plate at the right angle is vacated, and other bowl stacking plates enter the first direction. Finally, all the bowl plates in the first direction complete the turning operation, and referring to fig. 5, the bowl plate stack a1 is pushed to advance in the st1 direction, so that the rest bowl plate stacks (the bowl plates denoted by the marks a2, A3 and a4 in the figure) can be pushed to advance.
It should be noted that, in the above, only one stacking plate a1 is used as a power source to slide and push the rest stacking plates to mutually push and move forward; in other embodiments, two, three or more stacked bowl plates can be used as a power source to slide and push the rest stacked bowl plates to mutually press and advance.
To external in the required power that the slip of piling up
the first direction and the second direction are respectively provided with a first power and a second power; the first power moves back and forth in the first direction to push the
More specifically, referring to fig. 4 and 5, a first power M disposed in a first direction (indicated by st in the figure) can reciprocate in the direction, that is, can move along the st direction and can also move in the opposite direction of st, in fig. 4, when the stack plate (indicated by a reference number a1, a2, A3 and a 4) is still in the first direction, the first power M pushes the leftmost stack plate a1 to slide in the st direction, so that the remaining stack plates (indicated by a reference number a2, A3 and a 4) are pushed against each other to advance to the intersection of the first direction and a second direction (at a corner in the figure, that is, the stack plate a4 is pushed to the corner), at which time, the stack plate a4 is also located in the second direction, and then, a second power N in the second direction (indicated by st1 in the figure) pushes the stack plate a4 in the second direction along the st1 direction, and a second power N pushes the stack plate N in the second direction 4 a certain distance, the second power N is reset (moving in the opposite direction of st 1) to push the next bowl A3 into the second direction, at this time, the first power M continues to push the bowl a1, when the bowl A3 reaches the turning right angle, the second power N (previously reset) in the second direction (shown in st1 in the figure) pushes the bowl A3 into the second direction in the st1 direction, similarly, when the bowl a2 reaches the turning right angle, the second power N in the second direction (shown in st1 in the figure) pushes the bowl a2 into the second direction in the st1 direction, when the bowl a1 reaches the turning right angle, the second power N in the second direction (shown in st1 in the figure) pushes the bowl a1 into the second direction in the st1 direction, finally, all the bowls in the first direction are shifted to the second direction, and each bowl N is finished by a certain distance (see fig. 5), the bowl pushing device is automatically reset to push the next bowl stacking plate to advance in the second direction), the second power N in the second direction pushes the bowl stacking plate a1 to advance, the rest bowl stacking plates (shown in the figures as a2, A3 and a 4) are pushed against each other to advance towards st1, at this time, the first power M in the first direction can move along the reverse direction of st to push the bowl stacking plate to slide next time, and similarly, finally, the second power N in the second direction can also move along the reverse direction of st1 to push the bowl stacking plate to slide next time.
It should be noted that, in addition to the above working steps, the technology of the present invention can also work according to the working steps as follows: referring to fig. 4, after the stacked bowl plate arrangement is pushed to the corner right angle, the second power N pushes one stacked bowl plate a4 to the second direction st1 to advance the conveying bowls, until the bowls on the stacked bowl plate a4 are used up, the second power N returns to push the next stacked bowl plate A3 to advance the conveying bowls, and the operation is circulated in such a way that the bowls on all the stacked bowl plates are conveyed to a specific bowl taking position to be taken out. It can be appreciated that the stroke of the first power M and the second power N can be designed and adjusted according to the actual requirement, and finally, to achieve the above effect, for example, in order to push the stack plate at the right angle, the second power N in fig. 4 can slide on the lower edge of the stack plate a4 shown in fig. 4 to push the lower edge of the stack plate a4 to move in the st1 direction.
In the above, according to the requirement of the design of the conveying track of the stacked bowl plates, power is independently designed in each direction of the designed conveying track of the stacked bowl plates for pushing the stacked bowl plates in the direction where the power is located, and the power in each direction can reciprocate, so that the purpose of advancing the stacked bowl plates is achieved, and the problem that the stacked bowl plates turn is solved.
More preferably, the first power pushes the single bowl stacking plate 20 (only one bowl stacking plate is pushed forward, and other bowl stacking plates are pushed forward) to move in the first direction, so that the single
The specific implementation mode that the bowl stacking plate runs in the closed-loop track can be a circular ring shape, a circular shape (circular ring, circular arc and the like) is a track without edges and corners, the type of track can be realized by pushing one bowl stacking plate to move in a single direction on the circular ring shape or the circular track by adopting power, so that the rest bowl stacking plate can be pushed to move forwards by the bowl stacking plate, in order to meet the turning requirement of the bowl stacking plate on the type of track, the side wall of the bowl stacking plate can be designed into the circular arc shape or the circular shape, and can be provided with balls so as to be automatically turned under stress when being pushed, and the turning of the type of track can be realized by pushing. For the case that the closed loop track of the stacked bowl plates runs along an angular shape, for example, the running track can be in a triangular shape, a quadrangular shape, a pentagonal shape, a hexagonal shape, and the like, and the running and turning principle of the stacked bowl plates can refer to the above principle, in order to further explain the principle, the invention provides a specific implementation manner by taking a square shape as an example as follows:
referring to fig. 2, a third direction and a fourth direction are further included, and the first direction, the second direction, the third direction and the fourth direction intersect end to form a square track for the movement of the
The bowl taking device comprises a plurality of bowl stacking plates (refer to fig. 2, a first bowl stacking plate 20-1, a second bowl stacking plate 20-2, a third bowl stacking plate 20-3, a fourth bowl stacking plate 20-4 and a fifth bowl stacking plate 20-5) which circularly move in a closed loop mode in a square track, a certain position can be taken as a bowl taking position, after a certain bowl stacking plate is conveyed to the bowl taking position along with bowls, an additional manipulator can execute a bowl taking action until the bowls on the bowl stacking plate are taken out, then the position of one bowl stacking plate is circularly moved, the bowl stacking plate with the bowls taken out is conveyed out of the bowl taking position, the other bowl stacking plate with the bowls is conveyed to the bowl taking position for bowl taking, and meanwhile, the bowls are added to the bowl stacking plate with the bowls taken out again to enter a circular circulation process.
More specifically, referring to fig. 1, 2 and 6, the
When in use, referring to fig. 2, as "the
One embodiment of the power provided by the above square trajectory design may be as follows:
four sides of the
In the above, each sliding direction of the stacked bowl plates is respectively provided with power to push the stacked bowl plates at the intersection (the corner in fig. 2, 4 and 5) to the direction of the power to advance, so that the problem that the stacked bowl plates turn is well solved. And the required power only needs to push the bowl stacking plate, so that the structure is simple, and the following is a more detailed principle description.
Referring to fig. 7, in order to push the stacked bowl plates to slide, any one portion (including side edges, etc.) on the stacked bowl plates may be directly pushed, in one embodiment, a
Referring to the rack in fig. 6, a
In order to reduce the friction force and make the stacked bowl plate move more smoothly, the stacked
In addition, referring to fig. 8, the present invention also provides a bowl storing and taking robot, including: the bowl conveying device and the
The
the bowl gripping manipulator of the invention comprises: more than three
Referring to fig. 8, 9 and 10, in use, the bowl grabbing manipulator 30 moves over a bowl (over a stacked bowl plate carrying bowls) and then descends to an appropriate height, that is, a certain height margin is left for the lifting plate 3013 to descend to press the upper edge of the bowl 40, and then the lifting plate 3013 descends (as shown in H1 direction in fig. 10) to the uppermost bowl 40 rim right below and press the bowl rim (specifically, a sensor such as a pressure sensor may be provided on each pressing plate, the pressing plate is pressed downwards, if the bowl rim is uneven, the pressing plate is pressed downwards all the time, the uneven bowl is automatically corrected to become flat, when each sensor senses a signal indicating that the descending pressing plate is in place at the same time, the pressing plate stops pressing to perform the next bowl taking action, and the pressing process has the function of pressing the bowl rim at the same time, the plurality of pressing plates are pressed down simultaneously, that is, the pressing plates are equivalent to a horizontal plane, when the sensors of the three pressing plates all sense signals, it is indicated that the bowl mouth is in a plane state), that is, in fig. 10, the push rod 3014 pushes the lifting pressing plate 3013 to press the edge of the bowl mouth of the bowl 40, the bowl 40 at the uppermost part is stably fixed by the force pressure in the vertical direction, so as to prevent shaking (the stacked bowls have a certain height, the bowl is taken up from the bowl at the uppermost part, and the bowls are easy to shake), the jaws 3011 act, that is, the connecting rods 3012 of the three groups of jaws simultaneously move towards the center of the bowl, as shown in the direction H2 in fig. 10, so as to drive the center of the fixture block 3011 for gripping the outer wall of the bowl, until the three fixture blocks 3011 grip the outer wall of the bowl 40, and finally, the bowl gripping manipulator 30 rises, and lifts the gripped bowl 40 and puts it into.
According to the gripping device provided by the technical scheme of the invention, before the
Preferably, the
In the drawings, the positional relationship is described for illustrative purposes only and is not to be construed as limiting the present patent; it should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the invention, and are not intended to limit the embodiments of the invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
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