Pneumatic actuating structure of a delivery robot

Abstract

The application belongs to the technical field of robots, and particularly relates to a pneumatic execution structure of a delivery robot, which comprises a partition plate installed at the middle and lower end of the inner side of a cabinet body of the delivery robot, a sliding plate is slidably connected to the upper end of the partition plate, a circular groove for placing tableware is formed in the middle of the sliding plate, a pushing mechanism is arranged on both sides of the upper end of the sliding plate, the pushing mechanism is used for pushing the anti-scald pad to be attached to the side wall of the tableware and fixing the tableware, the U-shaped block of the pushing mechanism moves to the tableware under the limitation of the cylindrical slide bar and the third rectangular groove, the anti-scald pad can be placed between the two arc-shaped plates, and then the arc-shaped plates push the anti-scald pad to be attached to the side wall of the tableware, the arc-shaped plates are not retracted after being attached, the tableware is clamped to prevent the tableware from being jolted during transportation, after reaching the specified position, the arc-shaped plates are controlled to be retracted first, and then the sliding plate is controlled to move to the outside of the cabinet body, the tableware with the attached anti-scald pad is pushed in front of the guest, and the guest can take the tableware, so that the tableware is conveniently taken and scalding is avoided.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of robots, and particularly relates to a pneumatic execution structure of a delivery robot. BACKGROUND

[0002] With the progress of science and technology, many catering or logistics industries introduce robots in the delivery process, and the delivery robot has the advantages of convenience, saving of manpower and reduction of personnel contact, and the pneumatic execution structure of the delivery robot is actually a gate valve for driving the robot to work, which is commonly known as a pneumatic head. When installing, some corresponding auxiliary devices are often added, so that the driving effect can be achieved.

[0003] At present, the pneumatic execution structure of the delivery robot is arranged in the robot cabinet, and when working, the cabinet door is rotated by a rotary cylinder to open the cabinet door, and then a feeding cylinder is controlled to push out the slide plate in the cabinet to send the articles stored on the slide plate to the outside of the cabinet for the customers to take.

[0004] The existing pneumatic execution structure of the delivery robot has the problem that when delivering hot food, the tableware is directly sent to the outside of the cabinet, and since the temperature of the outer wall of the tableware is high, the customers are easy to be scalded when directly taking the food, which has a safety hazard, and the tableware cannot be prevented from being scalded, and the use is not convenient.

[0005] Therefore, the application provides a pneumatic execution structure of a delivery robot. SUMMARY

[0006] In order to make up for the deficiencies of the prior art and solve at least one technical problem in the background art.

[0007] The technical scheme adopted by the application to solve the technical problem is that the pneumatic execution structure of the delivery robot comprises a partition plate installed in the middle and lower end of the inside of the cabinet of the delivery robot, a slide plate is slidably connected to the upper end of the partition plate, a circular groove for placing tableware is formed in the middle of the slide plate, a pushing mechanism is arranged on both sides of the upper end of the slide plate, and the pushing mechanism is used to push the anti-scald pad to be attached to the side wall of the tableware and fix the tableware.

[0008] The pushing mechanism comprises a first rotating shaft rotatably connected to one side of the inner wall of the cabinet, first connecting rods are fixedly connected to both ends of the first rotating shaft, a second connecting rod is rotatably connected to one end of the first connecting rod away from the first rotating shaft, a U-shaped block is rotatably connected to one end of the second connecting rod away from the first connecting rod, and an arc-shaped plate for clamping the anti-scald pad is connected to the U-shaped block through a spherical joint.

[0009] And, the top of the arc-shaped plate is fixedly connected with a cylindrical slide strip, a rack is fixedly connected to the inner wall of the cabinet above the U-shaped block, a third rectangular groove is formed in the upper end of the slide plate and is matched with the cylindrical slide strip, and a rotary air cylinder is fixedly connected to the inner wall of the cabinet and drives the first rotating shaft to rotate.

[0010] Further, the U-shaped block is provided with a spherical hole on one side, and a ball is slidably connected in the spherical hole.

[0011] Further, a first rectangular groove is arranged on the upper end surface of the partition plate, a cylinder is fixedly connected to the inner end of the first rectangular groove, a first rectangular block is fixedly connected to the output end of the cylinder, the first rectangular block is fixedly connected to the slide plate, and the first rectangular block can slide in the first rectangular groove.

[0012] Further, a fixing assembly is arranged on the outer periphery of the circular groove, the fixing assembly comprises a plurality of second rectangular grooves arranged on the outer periphery of the circular groove, the second rectangular grooves are evenly arranged in the slide plate, a sliding block is slidably arranged in each second rectangular groove, and a first spring is fixedly connected between the sliding block and the inner wall of the second rectangular groove.

[0013] Further, a turnover assembly is arranged above the pushing mechanism, the turnover assembly is used for transferring the anti-scald pad, the turnover assembly comprises a second rotating shaft rotatably connected to the inner wall of the cabinet, third connecting rods are fixedly connected to the two ends of the second rotating shaft, a fourth connecting rod is rotatably connected to the end of the third connecting rod away from the second rotating shaft, a gear is rotatably connected to the end of the fourth connecting rod away from the third connecting rod, and the gear is meshingly connected with the rack.

[0014] A fourth rectangular groove is arranged on one side of the rack, an L-shaped sliding block is rotatably connected to one side of the gear, the bottom end of the L-shaped sliding block is slidably arranged in the fourth rectangular groove, a cylindrical strip is fixedly connected between the two gears, a first rectangular plate is fixedly connected to the upper end of the cylindrical strip, an adsorption assembly is fixedly connected to the upper end of the first rectangular plate, the adsorption assembly is used for adsorbing the anti-scald pad, and a second rotary air cylinder is arranged in the cabinet and drives the second rotating shaft to rotate.

[0015] Further, the adsorption assembly comprises a rectangular frame slidably connected with the first rectangular plate, springs are fixedly connected between the first rectangular plate and the rectangular frame, a rotating shaft is fixedly connected to the middle of the rectangular frame, and a second rectangular plate is fixedly connected to the rotating shaft.

[0016] Further, the cabinet body is symmetrically provided with a rectangular hole on both sides, a storage box is fixedly connected in the rectangular hole, the storage box is used for storing the anti-scald pad, a rectangular slide plate is slidably connected in the storage box, one side of the rectangular slide plate is fixedly connected with one side in the storage box through a second spring, one end in the storage box is provided with a circular hole, a telescopic rod is slidably connected in the circular hole, and a second rectangular block is fixedly connected on one side of the telescopic rod.

[0017] Further, a cover plate is slidably connected on the upper end of the storage box, and a third rectangular block is fixedly connected on one end of the cover plate.

[0018] Further, the anti-scald pad is fixedly connected with a plurality of first suction cups on one side and a plurality of second suction cups on the other side, and the suction force of the first suction cups is smaller than that of the second suction cups.

[0019] Further, fifth rectangular grooves are formed in the inner walls of both ends of the side of the storage box extending into the cabinet body, rectangular bars are slidably connected in the fifth rectangular grooves, one end of the rectangular bar extending into the cabinet body extends out of the storage box, a fourth spring is fixedly connected between the rectangular bar and the inner wall of the fifth rectangular groove, two sixth rectangular grooves are formed on the adjacent surfaces of the rectangular bars on both sides, a fifth connecting rod is rotatably connected to one side in the sixth rectangular groove, and a pointed block is rotatably connected to one end of the fifth connecting rod.

[0020] The beneficial effects of the present application are as follows:

[0021] 1. The pneumatic execution structure of the delivery robot, by rotating the second rotating shaft, the second rotating shaft drives one end of the third connecting rod to rotate, the third connecting rod drives the fourth connecting rod to push to one side, the fourth connecting rod pushes the gear to rotate on the rack, and the L-shaped slide block slides in the fourth rectangular groove provided on one side of the rack, the gear drives the first rectangular plate fixed on the cylindrical bar to rotate by 180 degrees, the first rectangular plate drives the anti-scald pad on one side of the suction assembly to rotate to one side of the tableware, and the driving arc-shaped plate pushes the anti-scald pad to be fixed on both sides of the tableware, so that the anti-scald pad is automatically added to the tableware through the structure, and the guest is prevented from being scalded when taking the meal.

[0022] 2. The pneumatic execution structure of the delivery robot, by rotating the rectangular frame to push the rectangular bar to extrude the fourth spring, the rectangular bar slides in the fifth rectangular groove, drives the fifth connecting rod to pull the pointed block to slide to both sides, and the anti-scald pad in the storage box slides to the rectangular frame, the first suction cup on one side of the anti-scald pad is adsorbed on one side of the second rectangular plate, when the rectangular frame is separated from one side of the storage box, the fourth spring releases the elastic force to push out the rectangular bar, the fifth connecting rod drives the pointed block to slide downward, the pointed block is fixed on both sides of the anti-scald pad to prevent the anti-scald pad from falling off, and the anti-scald pad is automatically picked up. BRIEF DESCRIPTION OF DRAWINGS

[0023] The present application will be further described below with reference to the drawings.

[0024] Figure 1 is a perspective view of embodiment one of the present application;

[0025] Figure 2 is an internal explosion schematic view of the skateboard of the present application;

[0026] Figure 3 is a schematic view of the internal partial structure of the cabinet of the present application;

[0027] Figure 4 is a schematic view of the internal partial structure of the cabinet of the present application; Figure 3 is an enlarged view of part B in the present application;

[0028] Figure 5 is an internal explosion schematic view of the U-shaped block of the present application;

[0029] Figure 6 is a schematic view of the cross section of the storage box of the present application;

[0030] Figure 7 is an enlarged view of part A in the present application; Figure 6

[0031] Figure 8 is a schematic view of the internal structure of the rectangular frame of the present application;

[0032] In the figure: 1, cabinet; 2, skateboard; 21, partition; 211, first rectangular groove; 22, circular groove; 221, second rectangular groove; 222, first spring; 223, sliding block; 24, air cylinder; 241, first rectangular block; 3, first connecting rod; 31, second connecting rod; 32, U-shaped block; 321, spherical hole; 33, cylindrical slide bar; 34, arc-shaped plate; 341, ball; 35, first rotating shaft; 4, rack; 41, fourth rectangular groove; 42, L-shaped sliding block; 43, third connecting rod; 44, fourth connecting rod; 45, gear; 46, first rectangular plate; 47, rectangular frame; 471, second rectangular plate; 5, storage box; 51, rectangular slide plate; 52, second spring; 53, telescopic rod; 54, second rectangular block; 55, third rectangular block; 56, anti-scald pad; 561, first suction cup; 562, second suction cup; 57, fifth rectangular groove; 571, fourth spring; 572, rectangular bar; 573, sixth rectangular groove; 574, fifth connecting rod; 575, pointed block; 58, cover plate. DETAILED DESCRIPTION

[0033] In order to make the technical means, creative features, purposes and effects of the present application easy to understand, the present application is further described below in combination with specific embodiments. Embodiment one

[0034] As Figures 1-4 ​As shown, the pneumatic execution structure of the delivery robot comprises a baffle 21 installed in the middle and lower end of the inner side of the cabinet body 1 of the delivery robot, a sliding plate 2 is slidably connected to the upper end of the baffle 21, and a circular groove 22 for placing tableware is formed in the middle of the sliding plate 2.

[0035] As shown, the pneumatic execution structure of the delivery robot comprises a baffle 21 installed in the middle and lower end of the inner side of the cabinet body 1 of the delivery robot, a sliding plate 2 is slidably connected to the upper end of the baffle 21, and a circular groove 22 for placing tableware is formed in the middle of the sliding plate 2.

[0036] The pushing mechanism comprises a first rotating shaft 35 rotatably connected to one side of the inner wall of the cabinet body 1, first connecting rods 3 are fixedly connected to the two ends of the first rotating shaft 35, respectively, a second connecting rod 31 is rotatably connected to the end of the first connecting rod 3 away from the first rotating shaft 35, a U-shaped block 32 is rotatably connected to the end of the second connecting rod 31 away from the first connecting rod 3, and an arc-shaped plate 34 is connected to the U-shaped block 32 through a spherical joint.

[0037] In addition, a cylindrical slide strip 33 is fixedly connected to the top of the arc-shaped plate 34, a rack 4 is fixedly connected to the inner wall of the cabinet body 1 above the U-shaped block 32, a third rectangular groove 23 is formed in the upper end of the sliding plate 2 and is adapted to the cylindrical slide strip 33, and a rotary air cylinder is fixedly connected to the inner wall of the cabinet body 1 and drives the first rotating shaft 35 to rotate.

[0038] Specifically, before delivering the meal, the staff places the tableware with hot food into the circular groove 22 on the sliding plate 2, starts the rotary air cylinder to drive the first rotating shaft 35 to rotate, and the first rotating shaft 35 drives one end of the first connecting rod 3 to rotate, and at the same time, the first connecting rod 3 drives the second connecting rod 31 to rotate, so that the U-shaped block 32 moves towards the tableware under the restriction of the cylindrical slide strip 33 and the third rectangular groove 23. In actual application, the anti-scald pad 56 can be placed between the two arc-shaped plates 34, and then the arc-shaped plate 34 pushes the anti-scald pad 56 to adhere to the side wall of the tableware. After adhesion, the arc-shaped plate 34 is not retracted first, and the tableware is clamped to prevent the tableware from being jolted during transportation. After reaching the designated position, the arc-shaped plate 34 is controlled to retract first, and then the sliding plate 2 is controlled to move outward from the cabinet body 1, so as to push the tableware with the anti-scald pad 56 to the front of the guest, so that the guest can take it conveniently and avoid being scalded.

[0039] As shown in Figure 4 and Figure 5 As shown, one side of the U-shaped block 32 is provided with a spherical hole 321, a spherical ball 341 is slidably connected in the spherical hole 321, and one side of the spherical ball 341 is fixedly connected with the side wall of the arc-shaped plate 34.

[0040] Specifically, the U-shaped block 32 and the arc-shaped plate 34 are pushed towards the tableware. Since the side edge of the tableware has a curvature, when the arc-shaped plate 34 contacts one side of the tableware, the spherical ball 341 on one side of the arc-shaped plate 34 rotates in the spherical hole 321 on one side of the U-shaped block 32, so that the arc-shaped plate 34 perfectly adheres to the side edge of the tableware, thereby improving the stability of clamping.

[0041] As shown in Figure 2 , the upper end surface of the partition plate 21 is provided with a first rectangular groove 211, one end of the inside of the first rectangular groove 211 is fixedly connected with a gas cylinder 24, the output end of the gas cylinder 24 is fixedly connected with a first rectangular block 241, the upper end of the first rectangular block 241 is fixedly connected with the sliding plate 2, and the first rectangular block 241 can slide in the first rectangular groove 211.

[0042] Specifically, when the guest takes the meal, the first rectangular block 241 is controlled to move through the output end of the gas cylinder 24, thereby driving the sliding plate 2 to move outwardly of the cabinet 1, and the tableware is sent to the outside of the cabinet 1, thereby facilitating taking the meal.

[0043] As shown in Figure 2 , the outer periphery of the circular groove 22 is provided with a fixed assembly, the fixed assembly comprises a plurality of second rectangular grooves 221 provided on the outer periphery of the circular groove 22, the plurality of second rectangular grooves 221 are uniformly arranged in the inside of the sliding plate 2, a sliding block 223 is slidingly arranged in each of the second rectangular grooves 221, and a first spring 222 is fixedly connected between the sliding block 223 and the inner wall of the second rectangular groove 221.

[0044] Specifically, when the tableware is placed in the circular groove 22, the side wall of the tableware exerts pressure on the upper inclined edge of the sliding block 223, so that the sliding block 223 slides in the second rectangular groove 221 and presses the first spring 222, and the tableware is fixed by the elastic force of the first spring 222 pushing the sliding block 223 against the periphery of the bottom of the tableware. Embodiment Two

[0045] As shown in Figure 3 , compared with Embodiment One, another embodiment of the present application is:

[0046] The upper side of the pushing mechanism in the embodiment is provided with a turnover assembly, the turnover assembly comprises a second rotating shaft 48 rotationally connected with the inner wall of the cabinet 1, the two ends of the second rotating shaft 48 are fixedly connected with a third connecting rod 43, the end of the third connecting rod 43 away from the second rotating shaft 48 is rotationally connected with a fourth connecting rod 44, the end of the fourth connecting rod 44 away from the third connecting rod 43 is rotationally connected with a gear 45, the gear 45 is in meshing connection with a rack 4, one side of the rack 4 is provided with a fourth rectangular groove 41, one side of the gear 45 is rotationally connected with an L-shaped sliding block 42, the bottom end of the L-shaped sliding block 42 is slidingly arranged in the fourth rectangular groove 41, a cylindrical bar is fixedly connected between the two gears 45, the upper end of the cylindrical bar is fixedly connected with a first rectangular plate 46, the upper end of the first rectangular plate 46 is fixedly connected with an adsorption assembly, the adsorption assembly is used for adsorbing an anti-scald pad 56, and the inside of the cabinet 1 is provided with a second rotary gas cylinder for driving the second rotating shaft 48 to rotate.

[0047] Specifically, after the tableware is placed above the sliding plate 2, the second rotary cylinder is started to drive the second rotating shaft 48 to rotate, the second rotating shaft 48 drives the third connecting rod 43 to rotate, and under the limiting action of the L-shaped sliding block 42 and the fourth rectangular groove 41, the third connecting rod 43 drives the fourth connecting rod 44 to move towards the tableware, the fourth connecting rod 44 drives the gear 45 to rotate on the rack 4, the gear 45 drives the first rectangular plate 46 on the cylindrical strip to rotate by 180 degrees, so that the anti-scald pad 56 on one side of the adsorption assembly is rotated to one side of the tableware, the arc-shaped plate 34 drives the adsorption assembly to move, so that the anti-scald pad 56 moves towards the tableware, and the anti-scald pad 56 is fixed on both sides of the tableware.

[0048] As shown in Figure 8 , the adsorption assembly of the embodiment comprises a rectangular frame 47 in sliding connection with the first rectangular plate 46, springs are fixedly connected between the first rectangular plate 46 and the rectangular frame 47, a rotating shaft is fixedly connected in the middle of the rectangular frame 47, and the rotating shaft is fixedly connected with a second rectangular plate 471.

[0049] Specifically, when the anti-scald pad 56 adsorbed on the first rectangular plate 46 is rotated to one side of the tableware, the second rectangular plate 471 is pushed by the arc-shaped plate 34, at this time, the rectangular frame 47 slides towards one side of the tableware, when the rectangular frame 47 abuts against the side wall of the tableware, the arc-shaped plate 34 continues to push the second rectangular plate 471, since the second rectangular plate 471 is made of a deformable manganese steel sheet, the manganese steel sheet has two shapes of semicircle and straight plate, so that the second rectangular plate 471 is bent, the anti-scald pad 56 on the second rectangular plate 471 is adsorbed to the side wall of the tableware, the design of the second rectangular plate 471 facilitates the adsorption of the anti-scald pad 56 and adapts to the arc-shaped side edge of the tableware, after the customer takes the tableware, the arc-shaped plate 34 is reset, under the action of the spring, the first rectangular plate 46 and the rectangular frame 47 return to the initial flat state, and the second rectangular plate 471 also returns to the straight plate shape, which is convenient for subsequent taking of the anti-scald pad 56.

[0050] As shown in Figure 6 , the cabinet 1 is provided with a storage box 5 symmetrically on both sides, the storage box 5 is used for storing the anti-scald pad 56, a rectangular sliding plate 51 is slidably connected in the storage box 5, one side of the rectangular sliding plate 51 is fixedly connected with one side in the storage box 5 through a second spring 52, one end in the storage box 5 is provided with a circular hole, a telescopic rod 53 is slidably connected in the circular hole, and one side of the telescopic rod 53 is fixedly connected with a second rectangular block 54.

[0051] Specifically, the elastic force of the second spring 52 can push the rectangular sliding plate 51 to push the anti-scald pad 56 to one end of the storage box 5, which is convenient for the anti-scald pad 56, when the anti-scald pad 56 in the storage box 5 is reduced, the second spring 52 pushes the rectangular sliding plate 51 to push the anti-scald pad 56 to move to one end of the rectangular frame 47 inside the cabinet 1, which plays a role of feeding.

[0052] AsFigure 6 As shown, the upper end of the storage box 5 is slidably connected with a cover plate 58, one end of the cover plate 58 is fixedly connected with a third rectangular block 55.

[0053] Specifically, when the anti-scald pad 56 needs to be replenished, the third rectangular block 55 is pulled to drive the cover plate 58 to slide above the storage box 5, the third rectangular block 55 pushes the second rectangular block 54 to drive the rectangular slide plate 51 through the telescopic rod 53 to slide to one side, and after the cover plate 58 is completely pulled away, the anti-scald pad 56 in the storage box 5 is replenished.

[0054] As shown, Figure 7 As shown, one side of the anti-scald pad 56 is fixedly connected with a plurality of first suction cups 561, and the other side is fixedly connected with a plurality of second suction cups 562, the suction force of the first suction cup 561 is smaller than that of the second suction cup 562, both ends of the inner wall of the storage box 5 extending into the inside of the cabinet body 1 are respectively provided with a fifth rectangular groove 57, a rectangular strip 572 is slidably connected in the fifth rectangular groove 57, one end of the rectangular strip 572 extending into the outside of the storage box 5 is located inside the cabinet body 1, a fourth spring 571 is fixedly connected between the rectangular strip 572 and the inner wall of the fifth rectangular groove 57, two sixth rectangular grooves 573 are respectively formed on the adjacent surfaces of the rectangular strip 572, a fifth connecting rod 574 is rotatably connected in one side of the sixth rectangular groove 573, and a sharp block 575 is rotatably connected at one end of the fifth connecting rod 574.

[0055] Specifically, under the elastic force of the second spring 52, after the customer takes the meal, the arc-shaped plate 34 is reset, the first rectangular plate 46 and the rectangular frame 47 return to the initial flat plate state under the action of the spring, the second rectangular plate 471 also returns to the straight plate state, the second rotary air cylinder drives the second rotating shaft 48 to rotate, so that the rectangular frame 47 pushes the rectangular strip 572 to press the fourth spring 571, the rectangular strip 572 slides in the fifth rectangular groove 57, drives the fifth connecting rod 574 to pull the sharp block 575 to slide to both sides, so that the sharp block 575 cannot block the anti-scald pad 56, the anti-scald pad 56 slides to the rectangular frame 47 under the elastic force of the second spring 52, the first suction cup 561 on one side of the anti-scald pad 56 is adsorbed on one side of the second rectangular plate 471, when the rectangular frame 47 is separated from one side of the storage box 5, the fourth spring 571 releases the elastic force to push out the rectangular strip 572, the fifth connecting rod 574 drives the sharp block 575 to slide to the inside of the storage box 5, so that the sharp block 575 protrudes from the inner wall of the storage box 5 and is fixed on both sides of the anti-scald pad 56 to prevent the anti-scald pad 56 from falling off the storage box 5, because the suction force of the first suction cup 561 is smaller than that of the second suction cup 562, when the second suction cup 562 is adsorbed on the side of the tableware, the first suction cup 561 is separated from the side of the second rectangular plate 471, so that the anti-scald pad 56 is stored on both sides of the tableware, and the turnover assembly and the pushing mechanism are matched to realize the purpose of transferring and adhering the anti-scald pad 56 to the tableware.

[0056] Working principle: Before use, the pneumatic actuator is placed inside the delivery robot cabinet 1. Before delivery, the staff puts the tableware into the circular groove 22 above the slide plate 2. The bottom of the tableware slides along the upper inclined side of the slider 223 to squeeze the slider 223. The slider 223 slides in the second rectangular groove 221 and squeezes the first spring 222. The elastic force of the first spring 222 pushes the slider 223 against the bottom of the tableware to fix the bottom of the tableware.

[0057] The rotary cylinder is activated, causing the second rotating shaft 48 to rotate. The second rotating shaft 48 then rotates one end of the third connecting rod 43. The third connecting rod 43 pushes the fourth connecting rod 44 to one side. The fourth connecting rod 44 pushes the gear 45 to rotate on the rack 4. Simultaneously, the L-shaped slider 42 slides in the fourth rectangular groove 41 provided on one side of the rack 4. The gear 45 drives the first rectangular plate 46, which is fixed on the cylindrical bar, to rotate 180 degrees. The first rectangular plate 46 drives the rectangular frame 47 and the second rectangular plate 471 provided in the middle to rotate. The second rectangular plate 471 is made of deformable and repositionable manganese steel sheet. The manganese steel sheet has two shapes: semi-circular and straight. For specific shape changes, please refer to the PaPa ring. It is suitable for picking up the anti-scalding pad 56. When the tableware has an arc-shaped side, the anti-scalding pad 56 is attached to the side of the second rectangular plate 471 by the first suction cup 561. The rotary cylinder is started to drive the first rotating shaft 35 to rotate. The first rotating shaft 35 drives one end of the first connecting rod 3 to rotate. At the same time, the first connecting rod 3 drives the second connecting rod 31 to rotate, pushing the U-shaped block 32 and the arc plate 34 closer to the tableware. Since the side of the tableware is curved, when the arc plate 34 contacts the side of the tableware, the ball 341 on the side of the arc plate 34 rotates in the ball hole 321 on the side of the U-shaped block 32 until the arc plate 34 is in contact with the side of the tableware. At the same time, the anti-scalding pad 56 attached to the side of the second rectangular plate 471 is attached to the side of the tableware by the second suction cup 562.

[0058] When a guest opens cabinet door 11, the rotary cylinder is activated again to drive the arc plate 34 to detach and move to both sides, disengaging from one side of the second rectangular plate 471. The rotary cylinder is then activated again to drive the gear 45 to rotate, causing the second rectangular block 471 to rotate 180 degrees to the side of the storage box 5. At this time, the rectangular frame 47 pushes the rectangular bar 572 to squeeze the fourth spring 571, causing the rectangular bar 572 to slide in the fifth rectangular groove 57. This causes the fifth connecting rod 574 to pull the pointed block 575 to slide to both sides, causing the anti-scalding pad 56 in the storage box 5 to slide towards the rectangular frame 47. The first suction cup 561 on one side of the anti-scalding pad 56 adheres to one side of the second rectangular plate 471. When the rectangular frame 47 detaches from one side of the storage box 5, the fourth spring 571 releases its elastic force to push the rectangular bar 572 out. The fifth connecting rod 574 drives the pointed block 575 to slide downward, fixing the anti-scalding pad 56 on both sides to prevent it from falling off.

[0059] When the anti-scald pad 56 in the storage box 5 is reduced, the rectangular slide plate 51 is pushed by the second spring 52 to push the anti-scald pad 56 to slide to one side of the rectangular frame 47, when the anti-scald pad 56 needs to be replenished, the third rectangular block 55 is pulled to drive the cover plate 58 to slide above the storage box 5, the third rectangular block 55 pushes the second rectangular block 54 to drive the rectangular slide plate 51 through the telescopic rod 53 to slide to one side, after the cover plate 58 is completely pulled open, the anti-scald pad 56 in the storage box 5 is replenished.

[0060] The basic principles, main features and advantages of the present application are shown and described above. Those skilled in the art should understand that the present application is not limited by the above-mentioned embodiments, and the above-mentioned embodiments and descriptions in the specification are only to illustrate the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the claimed present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A pneumatic actuator structure for a delivery robot, characterized in that: Includes a partition (21) installed on the inner middle and lower end of the delivery robot cabinet (1). The upper end of the partition (21) is slidably connected to a slide plate (2). The middle of the slide plate (2) is provided with a circular groove (22) for placing tableware. Both sides of the upper end of the slide plate (2) are provided with a pushing mechanism. The pushing mechanism is used to push the anti-scalding pad (56) to fit against the side wall of the tableware and fix the tableware. The pushing mechanism includes a first rotating shaft (35) rotatably connected to one side of the inner wall of the cabinet (1). A first connecting rod (3) is fixedly connected to both ends of the first rotating shaft (35). A second connecting rod (31) is rotatably connected to the end of the first connecting rod (3) away from the first rotating shaft (35). A U-shaped block (32) is rotatably connected to the end of the second connecting rod (31) away from the first connecting rod (3). The U-shaped block (32) is connected to an arc plate (34) through a ball joint. In addition, a cylindrical slide bar (33) is fixedly connected to the top of the arc plate (34), a rack (4) is fixedly connected to the inner wall of the cabinet (1) above the U-shaped block (32), a third rectangular groove (23) adapted to the cylindrical slide bar (33) is opened at the upper end of the slide plate (2), and a rotary cylinder for driving the first rotating shaft (35) to rotate is fixedly connected to the inner wall of the cabinet (1). The pushing mechanism is provided with a flipping component above it. The flipping component is used to transfer the anti-scalding pad (56). The flipping component includes a second rotating shaft (48) that is rotatably connected to the inner wall of the cabinet (1). The two ends of the second rotating shaft (48) are respectively fixed with a third connecting rod (43). The end of the third connecting rod (43) away from the second rotating shaft (48) is rotatably connected with a fourth connecting rod (44). The end of the fourth connecting rod (44) away from the third connecting rod (43) is rotatably connected with a gear (45). The gear (45) meshes with the rack (4). The rack (4) has a fourth rectangular groove (41) on one side, and an L-shaped slider (42) is rotatably connected to one side of the gear (45). The bottom end of the L-shaped slider (42) is slidably disposed in the fourth rectangular groove (41). A cylindrical strip is fixedly connected between the two gears (45). A first rectangular plate (46) is fixedly connected to the upper end of the cylindrical strip. An adsorption component is fixedly connected to the upper end of the first rectangular plate (46). The adsorption component is used to adsorb the anti-scalding pad (56). A second rotary cylinder that drives the second rotating shaft (48) to rotate is provided inside the cabinet (1). The adsorption assembly includes a rectangular frame (47) that is slidably connected to a first rectangular plate (46). A spring is fixed between the first rectangular plate (46) and the rectangular frame (47). A rotating shaft is fixed in the middle of the rectangular frame (47), and a second rectangular plate (471) is fixedly connected to the rotating shaft.

2. The pneumatic actuator structure for a delivery robot according to claim 1, characterized in that: The U-shaped block (32) has a spherical hole (321) on one side, and a sphere (341) is slidably connected in the spherical hole (321). One side of the sphere (341) is fixedly connected to the side wall of the arc plate (34).

3. The pneumatic actuation structure for a delivery robot according to claim 1, characterized in that: The upper surface of the partition (21) is provided with a first rectangular groove (211). A cylinder (24) is fixedly connected to one end of the first rectangular groove (211). A first rectangular block (241) is fixedly connected to the output end of the cylinder (24). The upper end of the first rectangular block (241) is fixedly connected to the slide plate (2). The first rectangular block (241) can slide in the first rectangular groove (211).

4. The pneumatic actuation structure for a delivery robot according to claim 1, characterized in that: The outer periphery of the circular groove (22) is provided with a fixing component, which includes a plurality of second rectangular grooves (221) provided on the outer periphery of the circular groove (22). The plurality of second rectangular grooves (221) are evenly opened inside the slide plate (2). A slider (223) is slidably arranged in each second rectangular groove (221). A first spring (222) is fixedly connected between the slider (223) and the inner wall of the second rectangular groove (221).

5. The pneumatic actuation structure for a delivery robot according to claim 1, characterized in that: The cabinet (1) is symmetrically provided with storage boxes (5) on both sides. The storage boxes (5) are used to store anti-scalding pads (56). A rectangular slide plate (51) is slidably connected inside the storage box (5). One side of the rectangular slide plate (51) is fixedly connected to one side of the inside of the storage box (5) by a second spring (52). One end of the inside of the storage box (5) is provided with a round hole. A telescopic rod (53) is slidably connected inside the round hole. A second rectangular block (54) is fixedly connected to one side of the telescopic rod (53).

6. The pneumatic actuation structure for a delivery robot according to claim 5, characterized in that: The storage box (5) has a cover plate (58) slidably connected to its upper end, and a third rectangular block (55) is fixedly connected to one end of the cover plate (58).

7. The pneumatic actuation structure for a delivery robot according to claim 6, characterized in that: The anti-scalding pad (56) has a number of first suction cups (561) fixedly connected to one side and a number of second suction cups (562) fixedly connected to the other side. The suction force of the first suction cups (561) is less than that of the second suction cups (562).

8. The pneumatic actuation structure for a delivery robot according to claim 7, characterized in that: The storage box (5) has a fifth rectangular groove (57) on each of the two inner walls of the side of the cabinet (1) that extends into the cabinet. A rectangular strip (572) is slidably connected in the fifth rectangular groove (57). One end of the rectangular strip (572) inside the cabinet (1) extends out to the outside of the storage box (5). A fourth spring (571) is fixed between the rectangular strip (572) and the inner wall of the fifth rectangular groove (57). Two sixth rectangular grooves (573) are opened on the adjacent surfaces of the rectangular strips (572) on both sides. A fifth connecting rod (574) is rotatably connected in one side of the sixth rectangular groove (573). A pointed block (575) is rotatably connected to one end of the fifth connecting rod (574).

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