Table and chair robots and intelligent table and chair systems

Abstract

A table and chair robot includes an intelligent mobile chassis capable of autonomous navigation and movement, and a table. The table includes a support frame, a movable frame, a tabletop, a third adjustment mechanism, and a fourth adjustment mechanism. The support frame is connected to the intelligent mobile chassis. The movable frame is movably connected to the support frame along a first direction, and the tabletop is movably connected to the movable frame along a second direction. The third adjustment mechanism is connected between the movable frame and the support frame and is used to drive the movable frame and the tabletop to move along the first direction. The fourth adjustment mechanism is connected between the movable frame and the tabletop and is used to drive the tabletop to move along the second direction. The first and second directions form an angle. This table and chair robot can autonomously move and transfer the table, and the tabletop can move, providing a good user experience. This invention also relates to an intelligent table and chair system.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a table and chair robot and an intelligent table and chair system. Background Technology

[0002] Currently, existing tables and / or chairs require manual handling or pushing to relocate during transport; after use, they also need to be manually moved and placed back in their original positions, which is time-consuming and space-consuming. Existing tables consist of a support frame and a tabletop fixed to the frame. Because the tabletop cannot move relative to the frame, adjusting its position requires moving the entire table. Moving (e.g., dragging) the table can easily scratch the floor or generate friction noise, making it inconvenient and unsuitable for user needs. Summary of the Invention

[0003] In view of this, the present invention provides a table and chair robot that can autonomously move and transfer tables, and the tabletop can be moved, providing a good user experience.

[0004] A table and chair robot includes an intelligent mobile chassis capable of autonomous navigation and movement, and a table. The table includes a support frame, a movable frame, a tabletop, a third adjustment mechanism, and a fourth adjustment mechanism. The support frame is connected to the intelligent mobile chassis. The movable frame is movably connected to the support frame along a first direction. The tabletop is movably connected to the movable frame along a second direction. The third adjustment mechanism is connected between the movable frame and the support frame and is used to drive the movable frame and the tabletop to move along the first direction. The fourth adjustment mechanism is connected between the movable frame and the tabletop and is used to drive the tabletop to move along the second direction. The first direction and the second direction have an included angle.

[0005] In an embodiment of the present invention, the support frame includes at least one support leg, the support leg including a fixed section and at least one telescopic section, the end of the fixed section being connected to the bearing plate, the telescopic section being movably connected to the fixed section along a third direction, the table including a fifth adjustment mechanism, the fifth adjustment mechanism being connected between the fixed section and the telescopic section, and being used to drive the telescopic section to move up and down along the third direction, the third direction being perpendicular to the first direction and the second direction.

[0006] In an embodiment of the present invention, the intelligent mobile chassis is provided with a support plate, and the table and chair robot also includes a seat and an adjustment device. The seat is placed on the support plate, and the adjustment device is connected to the support plate. The adjustment device is used to fix and / or move the seat.

[0007] In an embodiment of the present invention, the adjustment device includes a first translation drive mechanism and a swing drive mechanism. One end of the swing drive mechanism is connected to the first translation drive mechanism, and the other end of the swing drive mechanism is connected to the seat. The first translation drive mechanism is used to drive the swing drive mechanism and the seat to move horizontally, and the swing drive mechanism is used to transfer the seat.

[0008] In an embodiment of the present invention, the swing drive mechanism includes a movable seat, a swing arm, and a swing driver. One end of the swing arm is movably connected to the movable seat, and the other end of the swing arm is movably connected to the seat. The swing driver is fixed on the movable seat, and the drive end of the swing driver is connected to the swing arm. The swing driver is used to drive the swing arm to move the seat. The drive end of the first translation drive mechanism is connected to the movable seat.

[0009] In an embodiment of the present invention, the adjustment device includes a first fixing mechanism, which includes a fixing member, a movable member, and a fixing driver. The fixing member is fixed to the support plate, and the movable member is movably disposed on the support plate. An accommodating area for accommodating the chair leg of the seat is formed between the movable member and the fixing member. The driving end of the fixing driver is connected to the movable member, and the fixing driver is used to drive the movable member to move and cooperate with the fixing member to clamp or release the chair leg.

[0010] In an embodiment of the present invention, the adjustment device includes a second fixing mechanism, which includes a support column, a support seat, a first positioning rod, a second positioning rod, and a positioning driver. One end of the support column is fixed to the support plate, and the other end of the support column is fixed to the support seat. The support seat is used to support the back of the seat. The first positioning rod and the second positioning rod are movably disposed at opposite ends of the support seat. The positioning driver is fixed to the support column and is used to drive the first positioning rod and the second positioning rod to abut against the seat legs to achieve positioning.

[0011] In an embodiment of the present invention, the second fixing mechanism includes a first clamping driver, a second clamping driver, a first clamping jaw, and a second clamping jaw. The first clamping driver and the second clamping driver are fixed to the support base. The driving end of the first clamping driver is connected to the first clamping jaw, and the driving end of the second clamping driver is connected to the second clamping jaw. The first clamping driver is used to drive the first clamping jaw to clamp one side of the base plate, and the second clamping driver is used to drive the second clamping jaw to clamp the other side of the base plate.

[0012] In an embodiment of the present invention, the adjustment device includes a linkage transfer mechanism, which includes a first link, a second link, a third link, a crossbeam, and a transfer driver. The first link and the second link are arranged parallel to each other. One end of the first link and the second link are movably connected to the support plate, and the other end of the first link and the second link are movably connected to the third link. The crossbeam is fixed on the third link, and the seat is connected to or placed on the crossbeam. The transfer driver is fixed to the support plate, and the driving end of the transfer driver is connected to the first link. The transfer driver is used to drive the first link to swing to transfer the seat.

[0013] In an embodiment of the present invention, the adjustment device includes a robotic arm, which includes a plurality of movable arms connected in sequence and a plurality of movable actuators that drive each of the movable arms respectively. The plurality of movable actuators cooperate to drive the plurality of movable arms to fold to a parallel state or to drive the plurality of movable arms to unfold and transfer the seat.

[0014] In an embodiment of the present invention, the above-mentioned intelligent mobile chassis is provided with a second translation drive mechanism. The second translation drive mechanism includes a sliding seat and a second translation driver. The driving end of the second translation driver is connected to the sliding seat. The support plate is provided with an elongated movable hole. The sliding seat is arranged corresponding to the movable hole. The end of the robotic arm is connected to the sliding seat. The second translation driver is used to drive the sliding seat to move to change the position of the robotic arm.

[0015] In an embodiment of the present invention, the adjustment device includes at least one support mechanism, the support mechanism including a column, a tray and a tray driver, the end of the column being connected to the support plate, the tray being movably connected to the column, the tray driver being fixed to the column, the drive end of the tray driver being connected to the tray, the tray driver being used to drive the tray to flip, and the robotic arm being used to transfer the seat onto the tray or to move the seat away from the tray.

[0016] In an embodiment of the present invention, the above-mentioned adjustment device includes a first adjustment mechanism and a second adjustment mechanism. The first adjustment mechanism is used for the seat to move along a first direction, and the second adjustment mechanism is used for the seat to move along a second direction. The first direction and the second direction have an angle between them.

[0017] In an embodiment of the present invention, the seat is provided with a position adjustment mechanism, which is electrically connected to the first adjustment mechanism and the second adjustment mechanism respectively, and the position adjustment mechanism is used to adjust the position of the seat.

[0018] The present invention also relates to an intelligent table and chair system, including a control system and the aforementioned plurality of table and chair robots. The control system is communicatively connected to each of the table and chair robots. The control system is used to send table panel splicing commands to each of the table and chair robots. After receiving the table panel splicing commands, each of the table and chair robots moves to a matrix arrangement, and the third adjustment mechanism and the fourth adjustment mechanism of each table drive each table panel to move to realize the splicing of the plurality of table panels.

[0019] The table and chair robot of this invention can autonomously navigate and move using an intelligent mobile chassis, transporting the table 40 to the location where it is needed. Driven by the third and fourth adjustment mechanisms, the tabletop can move along a first and / or second direction, placing it in the most comfortable working or using position, improving the user experience. Furthermore, the tabletop does not generate noise during movement and will not scratch the floor. When the table is no longer in use, the intelligent mobile chassis carries the entire table to a new location, saving space and adapting to different environments and locations to meet practical needs. It is highly practical, saves manpower, and improves efficiency. Attached Figure Description

[0020] Figure 1 This is a three-dimensional structural diagram of the table and chair robot according to the first embodiment of this application.

[0021] Figure 2 This is a three-dimensional structural diagram of the intelligent mobile chassis according to the first embodiment of this application.

[0022] Figure 3 This is a schematic diagram of the disassembled structure of the intelligent mobile chassis according to the first embodiment of this application.

[0023] Figure 4 This is a bottom view of the table according to the first embodiment of this application.

[0024] Figure 5 This is a partial three-dimensional structural diagram of the table and chair robot according to the second embodiment of this application.

[0025] Figure 6 This is a three-dimensional structural diagram of the adjustment device in the second embodiment of this application when it is in conjunction with the seat.

[0026] Figure 7 This is a rear view schematic diagram of the adjustment device and the seat in the second embodiment of this application.

[0027] Figure 8 This is a three-dimensional structural diagram of the table and chair robot according to the third embodiment of this application.

[0028] Figure 9 This is a front view structural diagram of the table and chair robot according to the third embodiment of this application.

[0029] Figure 10 This is a schematic diagram of the structure of the second fixing mechanism according to the third embodiment of this application.

[0030] Figure 11 This is a three-dimensional structural diagram of the table and chair robot according to the fourth embodiment of this application.

[0031] Figure 12 This is a front view structural diagram of the table and chair robot according to the fourth embodiment of this application.

[0032] Figure 13 This is a side view of the table and chair robot according to the fourth embodiment of this application.

[0033] Figure 14 This is a side view of the linkage transfer mechanism of the fourth embodiment of this application when the seat is transferred out of the support plate.

[0034] Figure 15 This is a three-dimensional structural diagram of the table and chair robot according to the fourth embodiment of this application.

[0035] Figures 16 to 18 This is a schematic diagram of the process of a robotic arm transferring a seat to the ground according to the fourth embodiment of this application.

[0036] Figure 19 This is a side view structural diagram of the table and chair robot according to the sixth embodiment of this application.

[0037] Figure 20 This is a top view of the table and chair robot according to the sixth embodiment of this application.

[0038] Figure 21 This is a schematic diagram of the three-dimensional structure of multiple table and chair robots assembled according to the seventh embodiment of this application. Detailed Implementation

[0039] The following specific embodiments illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification.

[0040] In the following description, reference is made to the accompanying drawings, which illustrate several embodiments of the present application. It should be understood that other embodiments may also be used, and changes in mechanical composition, structure, electrical and operational aspects may be made without departing from the spirit and scope of the present application. The following detailed description should not be considered limiting, and the terminology used herein is for describing particular embodiments only and is not intended to limit the present application.

[0041] Although the terms first, second, etc., are used in some instances to describe various elements herein, these elements should not be limited by these terms. These terms are only used to distinguish one element from another.

[0042] Furthermore, as used herein, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context indicates otherwise. It should be further understood that the terms “comprising,” “including,” indicate the presence of a feature, step, operation, element, component, item, kind, and / or group, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, kinds, and / or groups. The terms “or” and “and / or” as used herein are interpreted as inclusive, or mean any one or any combination thereof. Thus, “A, B, or C” or “A, B, and / or C” means “any one of: A; B; C; A and B; A and C; B and C; A, B, and C.” Exceptions to this definition arise only when combinations of elements, functions, steps, or operations are inherently mutually exclusive in some way.

[0043] First Embodiment

[0044] Figure 1 This is a three-dimensional structural diagram of the table and chair robot according to the first embodiment of this application. Figure 2 This is a three-dimensional structural diagram of the intelligent mobile chassis according to the first embodiment of this application. Figure 3 This is a schematic diagram of the disassembled structure of the intelligent mobile chassis according to the first embodiment of this application. Figure 4 This is a bottom view of the table according to the first embodiment of this application. Please refer to it. Figures 1 to 4 The table and chair robot 100 includes an intelligent mobile chassis 10 capable of autonomous navigation and movement, and a table 40. The table 40 includes a support frame 41, a movable frame 42, a tabletop 43, a third adjustment mechanism 44, and a fourth adjustment mechanism 45. The support frame 41 is connected to the intelligent mobile chassis 10. The movable frame 42 is movably connected to the support frame 41 along a first direction X. The tabletop 43 is movably connected to the movable frame 42 along a second direction Y. The third adjustment mechanism 44 is connected between the movable frame 42 and the support frame 41 and is used to drive the movable frame 42 and the support frame 41. The tabletop 43 moves along the first direction X. The fourth adjustment mechanism 45 is connected between the movable frame 42 and the tabletop 43, and is used to drive the tabletop 43 to move along the second direction Y. The first direction X and the second direction Y have an angle, which is, for example, 30° to 150°, preferably 90°. When the angle is 90°, that is, the first direction X and the second direction Y are perpendicular to each other, wherein the first direction X is parallel to the width direction of the tabletop 43, and the second direction Y is parallel to the length direction of the tabletop 43, that is, the tabletop 43 is parallel to the first direction X and the second direction Y. In this embodiment, the movable frame 42 is movably connected to the support frame 41 through the cooperation of the sliding groove and the sliding rail, and the tabletop 43 is movably connected to the movable frame 42 through the cooperation of the sliding groove and the sliding rail.

[0045] The table and chair robot 100 of this application can autonomously navigate and move using the intelligent mobile chassis 10, transporting the table 40 to the location where the table 40 is needed. The tabletop 43 can move along the first and / or second directions under the drive of the third adjustment mechanism 44 and the fourth adjustment mechanism 45, placing the tabletop 43 in the most comfortable working or using position, improving the user experience. Moreover, the tabletop 43 does not generate noise during movement and will not scratch the floor. When the table 40 is no longer in use, the intelligent mobile chassis 10 carries the table 40 as a whole to a new location, without occupying space. It can adapt to different environments and locations, meet actual needs, has strong practicality, saves manpower, and improves efficiency.

[0046] Optionally, such as Figure 4 As shown, the third adjustment mechanism 44 includes a third motor drive assembly 441 and a third lead screw. The third motor drive assembly 441 is fixed on the support frame 41, and the drive end of the third motor drive assembly 441 is connected to the third lead screw. A first connecting block 421 is fixed on the movable frame 42, and the first connecting block 421 is threadedly connected to the third lead screw. When the third motor drive assembly 441 drives the third lead screw to rotate, the movable frame 42 and the table 43 move synchronously along the first direction X.

[0047] Optionally, such as Figure 4 As shown, the fourth adjustment mechanism 45 includes a fourth motor drive assembly 451 and a fourth lead screw 452. The fourth motor drive assembly 451 is fixed on the movable frame 42, and the drive end of the fourth motor drive assembly 451 is connected to the fourth lead screw 452. A second connecting block 431 is fixed on the back of the table 43, and the second connecting block 431 is threadedly connected to the fourth lead screw 452. When the fourth motor drive assembly 451 drives the fourth lead screw 452 to rotate, the table 43 moves along the second direction Y.

[0048] Optionally, the support frame 41 includes at least one support leg 411, which includes a fixed section and at least one telescopic section. The end of the fixed section is connected to the support plate 111, and the telescopic section is movably connected to the fixed section along a third direction. The table 40 includes a fifth adjustment mechanism (not shown), which is connected between the fixed section and the telescopic section and is used to drive the telescopic section to move up and down along a third direction, which is perpendicular to the first direction X and the second direction Y. In this embodiment, the support frame 41 includes two support legs 411, which are arranged in two pairs, and the seat 20 is located between the two support legs 411.

[0049] Optionally, the support frame 41 also includes a fixed frame 412, which is arranged vertically opposite to the support plate 111. The movable frame 42 is arranged above the fixed frame 412. The fixed frame 412 is fixedly connected between the two support legs 411. The third motor drive assembly 441 is fixed on the fixed frame 412.

[0050] Optionally, the fifth adjustment mechanism may be, for example, an electric lifting cylinder or a combination of a motor and a lead screw, which can be freely selected according to actual needs.

[0051] Optionally, such as Figure 2 and Figure 3 As shown, the intelligent mobile chassis 10 includes a support plate 111, a frame 112, and a first drive wheel device 121, a second drive wheel device 122, a drive control module 13, and a battery module 14 mounted on the frame 112. The support plate 111 is fixed on the frame 112. The adjustment device, the first drive wheel device 121, the second drive wheel device 122, the drive control module 13, and the battery module 14 are electrically connected. The battery module 14 provides power to the first drive wheel device 121, the second drive wheel device 122, and the drive control module 13. The first drive wheel device 121 and the second drive wheel device 122 are respectively located at both ends of the frame 112. The first drive wheel device 121 and the second drive wheel device 122 can rotate 360° to realize the movement of the intelligent mobile chassis 10.

[0052] Optionally, the intelligent mobile chassis 10 also includes a first universal wheel assembly 151 and a second universal wheel assembly 152. The first universal wheel assembly 151 and the second universal wheel assembly 152 are mounted on the frame 112. The first universal wheel assembly 151 is located near the first drive wheel device 121, and the second universal wheel assembly 152 is located near the second drive wheel device 122. The first universal wheel assembly 151 and the second universal wheel assembly 152 are used to assist the intelligent mobile chassis 10 in moving, ensuring that the intelligent mobile chassis 10 moves more stably.

[0053] Optionally, the intelligent mobile chassis 10 also includes a PLC module 16, an ultrasonic switch 17, a depth camera 18, and a navigation component 19 (e.g., a lidar). The PLC module 16 is electrically connected to the ultrasonic switch 17, the depth camera 18, the navigation component 19, the drive control module 13, and the battery module 14, respectively. The ultrasonic switch 17, the depth camera 18, and the navigation component 19 work together to enable the intelligent mobile chassis 10 to navigate and move autonomously.

[0054] Second Embodiment

[0055] Figure 5 This is a partial three-dimensional structural diagram of the table and chair robot according to the second embodiment of this application. Figure 6 This is a three-dimensional structural diagram of the adjustment device in the second embodiment of this application when it is engaged with the seat. Figure 7 This is a rear view diagram of the adjustment device and the seat in the second embodiment of this application. Figure 5 , Figure 6 and Figure 7As shown, the table and chair robot 100 of this embodiment has a structure that is largely the same as that of the table and chair robot 100 of the first embodiment, the difference being that the table and chair robot 100 also includes a seat 20 and an adjustment device. In this embodiment, Figure 5 The diagram only shows the intelligent mobile chassis 10, seat 20, and adjustment device; the table 40 is not shown. Please refer to the first embodiment for the structure of the intelligent mobile chassis 10 and table 40, which will not be described again here.

[0056] Optionally, such as Figure 5 , Figure 6 and Figure 7 As shown, seat 20 is placed on support plate 111, and adjustment device is connected to support plate 111. Adjustment device is used to fix and / or move seat 20. In this embodiment, one or more seats 20 can be placed on intelligent mobile chassis 10, and can be freely added or removed as needed.

[0057] The table and chair robot 100 of this application can autonomously navigate and move using an intelligent mobile chassis 10, transporting the chair 20 to the location where it is needed. During transport, the intelligent mobile chassis 10 uses an adjustment device to secure the chair 20, preventing it from falling. Upon arrival at the destination, the adjustment device can also transfer the chair 20 to the ground, making the entire process intelligent and quick. After use, the chair 20 is placed on the intelligent mobile chassis 10, which then moves it, saving space. Therefore, the table and chair robot 100 of this application can intelligently transport the chair 20, adapt to different environments and locations, meet practical needs, has strong practicality, saves manpower, and improves efficiency.

[0058] Optionally, such as Figure 5 , Figure 6 and Figure 7 As shown, the adjustment device includes a first translation drive mechanism 31 and a swing drive mechanism 32. One end of the swing drive mechanism 32 is connected to the first translation drive mechanism 31, and the other end of the swing drive mechanism 32 is connected to the seat 20. The first translation drive mechanism 31 is used to drive the swing drive mechanism 32 and the seat 20 to move horizontally, and the swing drive mechanism 32 is used to transfer the seat 20.

[0059] Optionally, the first translation drive mechanism 31 includes a first motor drive assembly 311 (a combination structure of a motor and a reducer) and a first lead screw 312. The first motor drive assembly 311 is connected to the first lead screw 312. The first lead screw 312 is arranged along the width direction of the support plate 111. The swing drive mechanism 32 is connected to the first lead screw 312. The first motor drive assembly 311 drives the first lead screw 312 to rotate, thereby enabling the swing drive mechanism 32 and the seat 20 to move horizontally.

[0060] Optionally, the first translation drive mechanism 31 further includes multiple first guide rods 313, which are parallel to the first lead screw 312. The swing drive mechanism 32 is provided with multiple first guide holes, and each first guide rod 313 passes through each first guide hole to improve the stability of the horizontal movement of the swing drive mechanism 32.

[0061] In other embodiments, the first translation drive mechanism 31 includes a drive cylinder (oil cylinder or air cylinder) and a drive shaft. The drive cylinder is connected to the drive shaft, and the swing drive mechanism 32 is connected to the drive shaft. The drive cylinder drives the drive shaft to extend and retract, thereby realizing the horizontal movement of the swing drive mechanism 32 and the seat 20.

[0062] Optionally, such as Figure 5 , Figure 6 and Figure 7 As shown, the swing drive mechanism 32 includes a movable seat 321, a swing arm 322, and a swing driver 323. One end of the swing arm 322 is movably connected to the movable seat 321, and the other end is movably connected to the seat 20. The swing driver 323 is fixed to the movable seat 321, and its driving end is connected to the swing arm 322. The swing driver 323 is used to drive the swing arm 322 to move the seat 20. The driving end of the first translation drive mechanism 31 is connected to the movable seat 321. In this embodiment, multiple first guide holes penetrate the movable seat 321, and the movable seat 321 is threadedly connected to the first lead screw 312. When the first motor drive assembly 311 drives the first lead screw 312 to rotate, the movable seat 321 moves on the support plate 111.

[0063] Optionally, the swing driver 323 is a combination structure of a motor and a reducer. The output shaft of the reducer is connected to the swing arm 322. The swing driver 323 drives the swing arm 322 to swing around the connection point to transfer the seat 20 from the intelligent mobile chassis 10 to the ground, or from the ground to the intelligent mobile chassis 10.

[0064] Optionally, the swing arm 322 includes a first swing rod 3221 and a second swing rod 3222 arranged parallel to each other. One end of the first swing rod 3221 and the second swing rod 3222 are movably connected to the movable seat 321, and the other end of the first swing rod 3221 and the second swing rod 3222 are movably connected to the back of the seat plate 21 of the seat 20. The swing driver 323 is connected to the first swing rod 3221 or the second swing rod 3222, and the swing driver 323 outputs power to drive the first swing rod 3221 and the second swing rod 3222 to swing synchronously. In this embodiment, the seat plate 21 of the seat 20 is used for human seating.

[0065] Optionally, such as Figure 7As shown, a connecting seat 23 is connected to the back of the seat plate 21. The first swing rod 3221 and the second swing rod 3222 are movably connected to the connecting seat 23. The connecting seat 23 can be fixed to the seat plate 21 by bolts. At this time, the seat 20 cannot be detached from the connecting seat 23. Alternatively, a tray can be provided on the connecting seat 23 to support the seat plate 21 of the seat 20. At this time, the seat 20 can be detached from the connecting seat 23. Alternatively, the connecting seat 23 and the seat plate 21 can be connected by a sliding groove, a sliding rail and fastening bolts to adjust the position of the seat 20 and increase the comfort of the seat 20.

[0066] Optionally, such as Figure 5 , Figure 6 and Figure 7As shown, the adjustment device includes a first fixing mechanism 33, which includes a fixing member 331, a movable member 332, and a fixing driver 333. The fixing member 331 is fixed on the support plate 111, and the movable member 332 is movably disposed on the support plate 111. An accommodating area for accommodating the chair legs 22 of the seat 20 is formed between the movable member 332 and the fixing member 331. The driving end of the fixing driver 333 is connected to the movable member 332. The fixing driver 333 is used to drive the movable member 332 to move and cooperate with the fixing member 331 to clamp or release the chair legs 22. When the seat 20 is placed on the intelligent mobile chassis 10, the chair legs 22 of the seat 20 are in the accommodating area, with two chair legs 22 disposed close to the fixing member 331 and the other two chair legs 22 disposed close to the movable member 332. The fixing driver 333 can drive the movable member 332 to move towards the fixing member 331 until the chair legs 22 are clamped between the fixing member 331 and the movable member 332. In this embodiment, the first translation drive mechanism 31 is disposed in the accommodating area and located between the fixed member 331 and the movable member 332. Optionally, both the fixed member 331 and the movable member 332 are L-shaped. Specifically, the fixed member 331 includes a first blocking beam and a second blocking beam, which are perpendicularly connected to each other and form an L-shape. The first blocking beam is arranged along the width direction of the support plate 111, and the second blocking beam is arranged along the length direction of the support plate 111. The movable member 332 includes a third blocking beam and a fourth blocking beam, which are perpendicularly connected to each other and form an L-shape. The third blocking beam is arranged along the width direction of the support plate 111 and is parallel to the first blocking beam. The fourth blocking beam is arranged along the length direction of the support plate 111. When the seat 20 is placed in the accommodating area, one leg 22 of the seat 20 is close to the connection between the first and second blocking beams, and the other leg 22 of the seat 20 is close to the connection between the third and fourth blocking beams. To prevent the seat 20 from falling off, a baffle 1114 is fixed on the support plate 111. The second and fourth blocking beams are parallel to and opposite to the baffle 1114. One end of the baffle 1114 extends to the first blocking beam, and the other end of the baffle 1114 extends to the third blocking beam. When the seat 20 is placed in the receiving area, each leg 22 of the seat 20 is in the receiving area formed by the fixing member 331, the moving member 332 and the baffle 1114. The two rear legs 22 of the seat 20 are limited by the second and fourth blocking beams, and the two front legs 22 of the seat 20 are limited by the baffle 1114.

[0067] Optionally, the support plate 111 is further provided with a first fixed seat 1115 and a second fixed seat 1116; the first translation drive mechanism 31 is connected to the first fixed seat 1115, the end of the first lead screw 312 away from the first motor drive assembly 311 is rotatably connected to the first fixed seat 1115, and both ends of the first guide rod 313 are fixed to the first fixed seat 1115; the fixed driver 333 is connected to the second fixed seat 1116, and the fixed driver 333 can be a telescopic cylinder drive, or a combination structure of a motor assembly (a combination of a motor and a reducer) and a lead screw drive, for example, a fixed... The fixed actuator 333 includes a motor assembly and a lead screw. The motor assembly is fixed on a second fixed base 1116. One end of the lead screw is connected to the motor assembly, and the other end is rotatably connected to the second fixed base 1116. A movable member 332 is threadedly connected to the lead screw. When the motor assembly drives the lead screw to rotate, the movable member 332 moves towards or away from the fixed member 331. To ensure the stability of the movement of the movable member 332, at least one second guide rod is also connected to the second fixed base 1116. The movable member 332 has at least one second guide hole, through which the second guide rod passes. In this embodiment, the middle part of the baffle 1114 is fixed to the first fixed base 1115.

[0068] Third Embodiment

[0069] Figure 8 This is a three-dimensional structural diagram of the table and chair robot according to the third embodiment of this application. Figure 9 This is a front view structural diagram of the table and chair robot according to the third embodiment of this application. Figure 10 This is a schematic diagram of the structure of the second fixing mechanism according to the third embodiment of this application, as shown below. Figure 8 , Figure 9 and Figure 10 As shown, the table and chair robot 100 in this embodiment has a similar structure to the table and chair robot 100 in the second embodiment, except that the adjustment device is different.

[0070] Optionally, such as Figure 9 and Figure 10As shown, the adjustment device includes a second fixing mechanism 34, which includes a support column 341, a support seat 342, a first positioning rod 343, a second positioning rod 344, and a positioning driver 345. One end of the support column 341 is fixed to the support plate 111, and the other end of the support column 341 is fixed to the support seat 342. The support seat 342 is used to support the back of the seat plate 21 of the chair 20. The first positioning rod 343 and the second positioning rod 344 are movably disposed at opposite ends of the support seat 342. The positioning driver 345 is fixed to the support column 341 and is used to drive the first positioning rod 343 and the second positioning rod 344 to abut against the chair leg 22 of the chair 20 to achieve positioning. Moreover, the first positioning rod 343 and the second positioning rod 344 are also used to support the seat plate 21 of the chair 20. In this embodiment, the support column 341 is arranged vertically, that is, the support column 341 is perpendicular to the support plate 111, and the support seat 342 is fixed to the top of the support column 341 and parallel to the support plate 111. When the seat 20 is placed on the intelligent mobile chassis 10, the support seat 342 is used to support the seat plate 21 of the seat 20. At this time, the chair legs 22 of the seat 20 can be detached from the support plate 111, or the chair legs 22 of the seat 20 can contact the support plate 111.

[0071] Alternatively, the positioning driver 345 may be, for example, a combination of a motor and a gear set.

[0072] Optionally, such as Figure 10 As shown, the second fixing mechanism 34 includes a first clamping driver 346, a second clamping driver 347, a first gripper 348, and a second gripper 349. The first clamping driver 346 and the second clamping driver 347 are fixed to the support base 342. The driving end of the first clamping driver 346 is connected to the first gripper 348, and the driving end of the second clamping driver 347 is connected to the second gripper 349. The first clamping driver 346 is used to drive the first gripper 348 to clamp one side of the base plate 21, and the second clamping driver 347 is used to drive the second gripper 349 to clamp the other side of the base plate 21. In this embodiment, both the first clamping driver 346 and the second clamping driver 347 are electric push rod mechanisms.

[0073] Optionally, such as Figure 10As shown, one end of the first gripper 348 is hinged to the drive end of the first gripping driver 346, and the middle part of the first gripper 348 is hinged to the first positioning rod 343; the first gripping driver 346 can drive the first gripper 348 to swing around the connection (the connection between the first gripper 348 and the first positioning rod 343) to clamp the seat plate 21; one end of the second gripper 349 is hinged to the drive end of the second gripping driver 347, and the middle part of the second gripper 349 is hinged to the second positioning rod 344; the second gripping driver 347 can drive the second gripper 349 to swing around the connection (the connection between the second gripper 349 and the second positioning rod 344) to clamp the seat plate 21. In this embodiment, both the first gripper 348 and the second gripper 349 include a first connecting portion, a second connecting portion, and a hook portion. One end of the second connecting portion is connected to the first connecting portion, and the other end of the second connecting portion is connected to the hook portion. The included angle between the second connecting portion and the first connecting portion is greater than 90°, and the included angle between the second connecting portion and the hook portion is equal to or greater than 90°. The end of the first connecting portion away from the second connecting portion is connected to the driving end of the first clamping driver 346 or the second clamping driver 347. The connection between the first connecting portion and the second connecting portion is hinged to the first positioning rod 343 or the second positioning rod 344.

[0074] For the structure and function of the intelligent mobile chassis 10, please refer to the first embodiment; it will not be repeated here.

[0075] Fourth embodiment

[0076] Figure 11 This is a three-dimensional structural diagram of the table and chair robot according to the fourth embodiment of this application. Figure 12 This is a front view schematic diagram of the table and chair robot according to the fourth embodiment of this application. Figure 13 This is a side view of the table and chair robot according to the fourth embodiment of this application. Figure 14 This is a side view of the linkage transfer mechanism of the fourth embodiment of this application when the seat is transferred out of the support plate. Please refer to the diagram. Figures 11 to 14 The table and chair robot 100 in this embodiment has a similar structure to the table and chair robot 100 described above, except that the adjustment device is different.

[0077] Optionally, the adjustment device includes a linkage transfer mechanism 35, which includes a first linkage 351, a second linkage 352, a third linkage 353, a crossbeam 354, and a transfer driver 355 (e.g., a combination of a motor and a reducer). The first linkage 351 and the second linkage 352 are arranged parallel to each other. One end of the first linkage 351 and the second linkage 352 is movably connected to the support plate 111, and the other end of the first linkage 351 and the second linkage 352 is movably connected to the third linkage 353. The crossbeam 354 is fixed on the third linkage 353, and the seat 20 is connected to or placed on the crossbeam 354. The transfer driver 355 is fixed to the support plate 111, and the driving end of the transfer driver 355 is connected to the first linkage 351. The transfer driver 355 is used to drive the first linkage 351 to swing in order to transfer the seat 20, for example, to transfer the seat 20 to the ground or from the ground to the intelligent mobile chassis 10. In this embodiment, a first hinge seat 1112 and a second hinge seat 1113 are fixed on the support plate 111. The first hinge seat 1112 and the second hinge seat 1113 are arranged opposite to each other along the width direction of the support plate 111. One end of the first connecting rod 351 is hinged to the first hinge seat 1112, and the other end of the first connecting rod 351 is hinged to the end of the third connecting rod 353. One end of the second connecting rod 352 is hinged to the second hinge seat 1113, and the other end of the second connecting rod 352 is hinged to the body of the third connecting rod 353. The end of the third connecting rod 353 away from the first connecting rod 351 and the second connecting rod 352 is fixedly connected to the crossbeam 354. The first connecting rod 351, the second connecting rod 352 and the third connecting rod 353 are combined to form a parallelogram structure.

[0078] Optionally, the seat plate 21 of the seat 20 is fixed to the crossbeam 354 by bolts and screw holes. In this case, the seat 20 cannot be detached from the crossbeam 354. Alternatively, a tray is provided on the crossbeam 354 to support the seat plate 21 of the seat 20. In this case, the seat 20 can be detached from the crossbeam 354. Alternatively, the crossbeam 354 and the seat plate 21 are connected by a sliding groove, a sliding rail, and fastening bolts to adjust the position of the seat 20 and increase the comfort of the seat 20.

[0079] The table 40 in this embodiment has the same structure and function as the table 40 in the second embodiment. That is, the tabletop 43 in this embodiment can move horizontally along the first direction X and / or the second direction Y under the drive of the third adjustment mechanism 44 and the fourth adjustment mechanism 45, which is beneficial to increasing the user's comfort. The support legs 411 of the table 40 can move up and down under the drive of the fifth adjustment mechanism, but this is not a limitation. For example, the tabletop 43 of the table 40 in this embodiment is fixed on the support frame 41, and the tabletop 43 cannot move horizontally. Only the support legs 411 of the table 40 can move up and down. Or the tabletop 43 and the support legs 411 cannot move. The corresponding structure and function can be freely added or removed according to actual needs.

[0080] Fifth embodiment

[0081] Figure 15 This is a three-dimensional structural diagram of the table and chair robot according to the fourth embodiment of this application. Figures 16 to 18 This is a schematic diagram illustrating the process of the robotic arm transferring a seat to the ground according to the fourth embodiment of this application. Please refer to it. Figures 15 to 18 The table and chair robot 100 in this embodiment has a similar structure to the table and chair robot 100 described above, except that the adjustment device is different.

[0082] Optionally, the adjustment device includes a robotic arm 36, which comprises multiple movable arms 361 connected sequentially and multiple actuators 362 that drive each movable arm 361. The actuators 362 cooperate to fold the movable arms 361 into a parallel state or unfold the movable arms 361 to transfer the seat 20. In this embodiment, each movable arm 361 is plate-shaped, and the multiple movable arms 361 can be folded into a parallel state, avoiding excessive use of the space under the table 40 by the robotic arm 36 and improving space utilization.

[0083] Optionally, the robotic arm 36 includes three movable arms 361 and three actuators 362. The end of the first movable arm 361 is connected to the intelligent mobile chassis 10, and an actuator 362 is connected to the connection point between the first movable arm 361 and the intelligent mobile chassis 10. This actuator 362 drives the first movable arm 361 to move around the hinge. One end of the second movable arm 361 is connected to the first movable arm 361, and the other end of the second movable arm 361 is connected to the third movable arm 361. An actuator 362 is connected to the connection point between the second movable arm 361 and the first movable arm 361, and this actuator 362 drives the second movable arm 361 to move around the connection point. An actuator 362 is connected to the connection point between the third movable arm 361 and the second movable arm 361, and this actuator 362 drives the third movable arm 361 to move around the connection point. The three movable arms 361 and the three actuators 362 cooperate to complete the transfer motion of the seat 20. In this embodiment, a plug plate 363 is connected to the third movable arm 361. The plug plate 363 is used to support the seat plate 21 of the seat 20 when the seat 20 is transferred.

[0084] Optionally, the intelligent mobile chassis 10 is provided with a second translation drive mechanism (not shown). The second translation drive mechanism includes a sliding seat 110 and a second translation driver. The driving end of the second translation driver is connected to the sliding seat 110. The support plate 111 is provided with an elongated movable hole 101. The sliding seat 110 is arranged corresponding to the movable hole 101. The end of the robotic arm 36 is connected to the sliding seat 110. The second translation driver is used to drive the sliding seat 110 to move to change the position of the robotic arm 36. In this embodiment, the movable hole 101 penetrates the support plate 111 and is arranged along the length direction of the support plate 111 (arranged along the second direction Y). When multiple seats 20 are placed on the intelligent mobile chassis 10, the second translation driver can drive the robotic arm 36 through the sliding seat 110 to pass through different seats 20, which facilitates the transfer of different seats 20 by the robotic arm 36.

[0085] Optionally, the second translation actuator can be a telescopic cylinder structure or a combination of a motor and a lead screw, which can be freely selected according to actual needs.

[0086] Optionally, the adjustment device includes at least one support mechanism 37. The support mechanism 37 includes a column 371, a tray 372, and a tray driver 373. The end of the column 371 is connected to the support plate 111, the tray 372 is movably connected to the column 371, and the tray driver 373 is fixed to the column 371. The driving end of the tray driver 373 is connected to the tray 372. The tray driver 373 is used to drive the tray 372 to flip, and the robotic arm 36 is used to transfer the seat 20 onto the tray 372 or to move the seat 20 away from the tray 372. When the support mechanism 37 supports the seat 20, the tray driver 373 drives the tray 372 to a horizontal state, at which point the robotic arm 36 can transfer the seat 20 onto the tray 372. When it is necessary to transfer the seat 20 to the ground, the robotic arm 36 moves to lift the seat 20 on the tray 372 and then transfers it to the ground.

[0087] Optionally, the table 40 in this embodiment has the same structure and function as the table 40 in the second embodiment. That is, the tabletop 43 in this embodiment can move horizontally along the first direction X and / or the second direction Y under the drive of the third adjustment mechanism 44 and the fourth adjustment mechanism 45, which is beneficial to increasing the user's comfort. The support legs 411 of the table 40 can move up and down under the drive of the fifth adjustment mechanism. When the robotic arm 36 transfers the seat 20 from the tray 372 to the ground, or from the ground to the tray 372, the support legs 411 rise under the drive of the fifth adjustment mechanism to avoid the seat 20 colliding with the tabletop 43 during the transfer. After the seat 20 is transferred, the support legs 411 descend under the drive of the fifth adjustment mechanism.

[0088] Sixth Embodiment

[0089] Figure 19This is a side view of the table and chair robot according to the sixth embodiment of this application. Figure 20 This is a top view structural diagram of the table and chair robot according to the sixth embodiment of this application, as shown below. Figure 19 and Figure 20 As shown, the table and chair robot 100 in this embodiment has a similar structure to the table and chair robot 100 described above, except that the adjustment device is different.

[0090] Optionally, the adjustment device includes a first adjustment mechanism (not shown) and a second adjustment mechanism (not shown). The first adjustment mechanism is used to move the seat 20 along a first direction X, and the second adjustment mechanism is used to move the seat 20 along a second direction Y. The first direction X and the second direction Y have an angle, which is, for example, 30° to 150°, preferably 90°. When the angle is 90°, that is, the first direction X and the second direction Y are perpendicular to each other, wherein the first direction X is parallel to the width direction of the support plate 111, the second direction Y is parallel to the length direction of the support plate 111, the support plate 111 is parallel to the first direction X and the second direction Y, and the support plate 111 is parallel to the table 43. In this embodiment, the functions and structures of the first and second adjustment mechanisms are described with reference to the relevant structures for driving the table 43 to move in the second embodiment; specific details are not repeated here.

[0091] Optionally, the seat 20 is provided with a position adjustment mechanism, which is electrically connected to the first adjustment mechanism and the second adjustment mechanism respectively. The position adjustment mechanism is used to adjust the position of the seat 20. In this embodiment, the position adjustment mechanism is, for example, a control lever 24 and an electric button or knob 25. The control lever 24, electric button or knob 25 can control the first adjustment mechanism and the second adjustment mechanism to be energized and start, and control the direction of movement of the seat 20.

[0092] In this embodiment, the seat 20 is, for example, a sofa chair, which offers good comfort.

[0093] Seventh Embodiment

[0094] Figure 21 This is a schematic diagram of the three-dimensional structure of multiple table and chair robots assembled according to the seventh embodiment of this application. Please refer to it. Figures 1 to 21This application also relates to an intelligent table and chair system, including a control system (not shown) and multiple table and chair robots 100 as described above. The control system is communicatively connected to each table and chair robot 100. The control system is used to send table panel 43 splicing commands to each table and chair robot 100. After receiving the table panel 43 splicing command, each table and chair robot 100 moves to a matrix arrangement, and the third adjustment mechanism 44 and the fourth adjustment mechanism 45 of each table 40 drive each table panel 43 to move to achieve splicing of multiple table panels 43. It can be temporarily spliced ​​into a large tabletop in rooms such as conference tables, office desks, lounges, and tea rooms, or outdoors. When the large tabletop is used up, the multiple table and chair robots 100 can move and disperse autonomously, or move to other places. It can be used in a variety of environments, has high practicality, and can meet actual needs.

[0095] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this application should still be covered by the claims of this application.

Claims

1. A table chair robot characterized by, The table comprises a support frame, a movable frame, a table board, a third adjusting mechanism and a fourth adjusting mechanism, the support frame is connected to the intelligent mobile chassis, the movable frame is movably connected to the support frame along a first direction, the table board is movably connected to the movable frame along a second direction, the third adjusting mechanism is connected between the movable frame and the support frame and is used to drive the movable frame and the table board to move along the first direction, the fourth adjusting mechanism is connected between the movable frame and the table board and is used to drive the table board to move along the second direction, the first direction and the second direction have an included angle, the intelligent mobile chassis comprises a bearing plate and a navigation assembly for navigation cooperation, the table and chair robot further comprises a seat and an adjusting device, the seat is placed on the bearing plate, the adjusting device is connected to the bearing plate, the adjusting device is used to fix and / or transfer the seat, the adjusting device comprises a first translation driving mechanism and a swing driving mechanism, one end of the swing driving mechanism is connected to the first translation driving mechanism, the other end of the swing driving mechanism is connected to the seat, the first translation driving mechanism is used to drive the swing driving mechanism and the seat to move horizontally, and the swing driving mechanism is used to transfer the seat; the swing driving mechanism comprises a movable seat, a swing arm and a swing driver, one end of the swing arm is movably connected to the movable seat, the other end of the swing arm is movably connected to the seat, the swing driver is fixed on the movable seat, the driving end of the swing driver is connected to the swing arm, the swing driver is used to drive the swing arm to move the seat, and the driving end of the first translation driving mechanism is connected to the movable seat.

2. The table-chair robot according to claim 1, wherein The support frame comprises at least one support leg, the support leg comprises a fixed segment and at least one telescopic segment, the end of the fixed segment is connected to the bearing plate, the telescopic segment is movably connected to the fixed segment along a third direction, the table comprises a fifth adjusting mechanism, the fifth adjusting mechanism is connected between the fixed segment and the telescopic segment and is used to drive the telescopic segment to move up and down along the third direction, and the third direction is perpendicular to the first direction and the second direction.

3. The table-chair robot according to claim 1, wherein The adjusting device comprises a first fixing mechanism, the first fixing mechanism comprises a fixed part, a movable part and a fixing driver, the fixed part is fixed on the bearing plate, the movable part is movably arranged on the bearing plate, the movable part and the fixed part form a containing area containing the legs of the seat, the driving end of the fixing driver is connected to the movable part, and the fixing driver is used to drive the movable part to move and clamp or release the legs in cooperation with the fixed part.

4. The table-chair robot according to claim 1, wherein The adjusting device comprises a second fixing mechanism, the second fixing mechanism comprises a support column, a bearing seat, a first positioning rod, a second positioning rod and a positioning driver, one end of the support column is fixed to the bearing plate, the other end of the support column is fixed to the bearing seat, the bearing seat is used for bearing the back of the seat plate of the seat, the first positioning rod and the second positioning rod are movably arranged at opposite ends of the bearing seat, the positioning driver is fixed to the support column, and the positioning driver is used for driving the first positioning rod and the second positioning rod to abut against the legs of the seat to realize positioning.

5. The bench robot of claim 4, wherein, The second fixing mechanism comprises a first clamping driver, a second clamping driver, a first clamping jaw and a second clamping jaw, the first clamping driver and the second clamping driver are fixed to the bearing seat, the driving end of the first clamping driver is connected with the first clamping jaw, the driving end of the second clamping driver is connected with the second clamping jaw, the first clamping driver is used for driving the first clamping jaw to clamp one side of the seat plate, and the second clamping driver is used for driving the second clamping jaw to clamp the other side of the seat plate.

6. The bench robot of claim 1, wherein, The adjusting device comprises a connecting rod transfer mechanism, the connecting rod transfer mechanism comprises a first connecting rod, a second connecting rod, a third connecting rod, a cross beam and a transfer driver, the first connecting rod and the second connecting rod are arranged in parallel with each other, one end of the first connecting rod and the second connecting rod is movably connected to the bearing plate, the other end of the first connecting rod and the second connecting rod is movably connected to the third connecting rod, the cross beam is fixed on the third connecting rod, the seat is connected or placed on the cross beam, the transfer driver is fixed to the bearing plate, the driving end of the transfer driver is connected with the first connecting rod, and the transfer driver is used for driving the first connecting rod to swing to realize transferring the seat.

7. The table-chair robot according to claim 1, wherein The adjusting device comprises a mechanical arm, the mechanical arm comprises a plurality of movable arms which are movably connected in sequence and a plurality of movement drivers which respectively drive the movable arms, and the movement drivers are matched to drive the movable arms to fold to a parallel state or to unfold to transfer the seat.

8. The bench robot of claim 7, wherein, The intelligent mobile chassis is internally provided with a second translation driving mechanism, the second translation driving mechanism comprises a sliding seat and a second translation driver, the driving end of the second translation driver is connected with the sliding seat, the bearing plate is provided with an elongated movable hole, the sliding seat is arranged corresponding to the movable hole, the end of the mechanical arm is connected to the sliding seat, and the second translation driver is used for driving the sliding seat to move to change the position of the mechanical arm.

9. The bench robot of claim 7, wherein, The adjusting device comprises at least one supporting mechanism, the supporting mechanism comprises a stand column, a supporting plate and a supporting plate driver, the end of the stand column is connected to the bearing plate, the supporting plate is movably connected to the stand column, the supporting plate driver is fixed to the stand column, the driving end of the supporting plate driver is connected with the supporting plate, the supporting plate driver is used for driving the supporting plate to overturn, and the mechanical arm is used for transferring the seat to the supporting plate or moving the seat away from the supporting plate.

10. The table-chair robot according to claim 1, wherein The adjusting device comprises a first adjusting mechanism and a second adjusting mechanism, the first adjusting mechanism is used for moving the seat in a first direction, the second adjusting mechanism is used for moving the seat in a second direction, and the first direction and the second direction have an included angle.

11. The table-chair robot according to claim 10, wherein The seat is provided with a position adjusting mechanism, the position adjusting mechanism is electrically connected with the first adjusting mechanism and the second adjusting mechanism respectively, and the position adjusting mechanism is used for adjusting the position of the seat.

12. An intelligent desk and chair system, characterized by The control system is in communication connection with each of the table and chair robots, and is used for sending a table board splicing command to each of the table and chair robots. After each of the table and chair robots receives the table board splicing command, each of the table and chair robots moves to be arranged in a matrix, and the third adjusting mechanism and the fourth adjusting mechanism of each of the tables drive each of the table boards to move to realize splicing of multiple table boards.

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