Damping dish delivery robot and damping method

Abstract

The invention discloses a damping dish delivery robot and a damping method, particularly relates to the technical field of dish delivery robots, and solves the problems that in the prior art, damping structures of dish delivery robots are mostly composed of first permanent magnets and second permanent magnets which repel each other, inertia force exists when magnets of the same level repel each other, and the dish delivery robots jolt and shake when encountering obstacles; and the technical problem that the dishes conveyed by the end are easy to spill out is solved. According to the technical scheme, a novel damping mechanism is provided and matched with a corresponding self-locking mechanism; damping can be conducted during dish transportation, when the dish delivery robot returns, the damping device is locked by the self-locking rod, and the situation that the movement speed of the dish delivery robot is affected by vibration of the damping device during returning is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of food delivery robots, and in particular to a shock-absorbing food delivery robot and a shock-absorbing method. Background Art

[0002] The rise and popularity of food delivery robots in the catering industry is a reflection of technological progress and social development trends. With the rise in labor costs and the rapid development of technology, the catering industry has begun to seek more efficient and cost-effective service methods, and food delivery robots have become an important solution. These robots can not only improve service efficiency and reduce labor costs, but also improve customers' dining experience to a certain extent.

[0003] With the further development of technology and the gradual reduction of costs, food delivery robots are expected to be more widely used in the catering industry. In the future, food delivery robots will be more intelligent, able to better understand and respond to customer needs, and even conduct simple communications. At the same time, with the development of artificial intelligence and machine learning technology, the ability of food delivery robots to handle complex environments and tasks will be greatly improved, bringing deeper changes to the catering industry.

[0004] At present, the existing shock-absorbing structure of the food delivery robot is mostly composed of a first permanent magnet and a second permanent magnet that repel each other. The magnets of the same level repel each other, thereby effectively reducing vibration, but there is an inertial force, and when encountering obstacles, it will shake and bump, which can easily cause the food being delivered to spill. Summary of the invention

[0005] Therefore, the present invention solves the technical problem that the shock-absorbing structure of the food delivery robot in the prior art is mostly composed of a first permanent magnet and a second permanent magnet that repel each other, and there is an inertial force when magnets of the same level repel each other, and the food delivery robot will shake and sway when encountering an obstacle, which may easily cause the food being delivered to spill. The present invention provides a shock-absorbing device and a shock-absorbing method for the food delivery robot, so that the vibration of the food delivery robot can be quickly stopped when encountering a tiny obstacle, thereby preventing the food from spilling. When the food is delivered to the designated table and the food delivery robot returns, the self-locking rod locks the shock-absorbing device to prevent the vibration of the shock-absorbing device from affecting the movement speed of the food delivery robot on the return journey.

[0006] The shock-absorbing food delivery robot provided by the present invention specifically includes a chassis, a driving mechanism is arranged below the chassis; a food placing rod is arranged above the chassis, and a food placing plate is arranged on the food placing rod; a shock-absorbing mechanism is arranged inside the food placing rod; the driving mechanism is used to control the movement of the device, and the shock-absorbing mechanism is used to reduce shock when the device moves.

[0007] Furthermore, the shock absorbing mechanism includes a push rod, which is arranged in a cavity inside the dish placing rod; the top of the push rod is connected to the bottom of the dish placing plate; the push rod passes through a fixed plate, the fixed plate is arranged in the dish placing rod and connected to the side wall of the dish placing rod; the bottom of the push rod is connected to a magnet; a spring is arranged between the fixed plate and the magnet; and a closed coil is arranged below the magnet. The push rod passes through the spring. The upper end of the magnet is the S pole of the magnet, and the lower end is the N pole of the magnet. The closed coil is connected to the side wall of the dish placing rod. When the magnet moves up and down, the magnetic flux lines passing through the closed coil will change, so an induced current will be generated in the closed coil. According to Lenz's law, the magnetic field generated by the induced current will hinder the magnet and the coil from approaching or leaving each other, and the magnet will be hindered by the Ampere force generated by the coil, so the magnet will stop faster, thereby quickly stopping the vibration of the dish placing rack of the food delivery robot.

[0008] Furthermore, the driving mechanism includes a wheel arranged below the chassis; the wheel is coaxially arranged with the motor output shaft, and the motor is fixed to the lower surface of the chassis, thereby driving the entire device to move.

[0009] Furthermore, the push rod, the fixing plate and the dish placement rod are provided with transversely connected holes; the holes are provided with self-locking rods. The food delivery robot needs the shock absorption system to work when delivering food to prevent the soup on the dish placement rack from spilling, but the shock absorption system does not need to work when returning. The vibration of the shock absorption system may even affect the speed of the return of the food delivery robot. The self-locking rod fixes the push rod to prevent the vibration of the magnet and the spring from affecting the running speed of the food delivery robot.

[0010] Furthermore, the dish placing tray is provided with multiple layers, and a dish placing rod is provided under each layer of the dish placing tray, and a shock absorbing device is provided inside the dish placing rod, so as to transport a variety of dishes.

[0011] Furthermore, a sensor bracket is provided at the front end of the chassis, on which a sensor can be installed.

[0012] The present invention also provides a shock absorption method based on the shock absorption food delivery robot, comprising the following steps:

[0013] S1: In the initial state, the spring is in an uncompressed state, the push rod, the fixing plate and the hole on the dish placing rod are in the same horizontal plane, and the self-locking rod is located in the hole to self-lock the push rod, thereby maintaining the stability of the dish placing plate and facilitating the placing of dishes on the dish placing plate;

[0014] S2: After placing the dishes, pull out the self-locking rod, and the motor drives the device to move. During the movement, when the device encounters a small obstacle or an uneven road, the push rod connected to the dish tray will vibrate, and the push rod will move vertically up and down inside the spring. The push rod will exert force on the magnet, thereby pushing the magnet up and down. When the magnet moves, the magnetic flux lines passing through the closed coil will change, and an induced current will be generated in the closed coil. According to Lenz's law, the magnetic field generated by the induced current will hinder the magnet and the coil from approaching or leaving, and the magnet will be hindered by the Ampere force generated by the closed coil, causing the magnet to stop faster.

[0015] S3: When the food is delivered to the destination, the spring resets and the self-locking rod is inserted again to achieve self-locking of the push rod. Then the robot returns to its original location.

[0016] In the above technical solution, the technical effects and advantages provided by the present invention are:

[0017] 1. The shock-absorbing food delivery robot provided by the present invention, when the magnet moves up and down, the magnetic flux lines passing through the closed coil will change, so an induced current will be generated in the closed coil. According to Lenz's law, the magnetic field generated by the induced current will hinder the magnet and the coil from approaching or leaving, and the magnet will be hindered by the Ampere force generated by the coil, so the magnet will stop faster, thereby quickly stopping the vibration of the food delivery robot's food rack and not generating inertial force; enabling the food delivery robot to move smoothly, on the one hand, it can improve the food delivery efficiency and save labor costs; on the other hand, it can improve the stability of the movement process.

[0018] 2. The shock-absorbing food delivery robot provided by the present invention inserts a self-locking rod into holes on a push rod, a fixed plate and a food placing rod to self-lock the push rod, thereby maintaining the stability of the food placing plate and reducing vibration of the food placing plate.

[0019] 3. The present invention provides a shock-absorbing method for a shock-absorbing food delivery robot. When placing food, the self-locking rod is located in the hole to self-lock the push rod, thereby maintaining the stability of the food tray and facilitating the placement of food on the food tray. When transporting food, the self-locking rod is pulled out to facilitate the operation of the shock-absorbing mechanism. After the food is transported, the self-locking rod is inserted again to reduce vibration during the return journey of the device and avoid the influence of the vibration of the magnet and the spring on the running speed of the food delivery robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 It is a schematic diagram of the overall structure of the shock absorbing mechanism of the present invention;

[0023] Figure 3 It is a schematic diagram of the interior of the vegetable placing rod of the present invention;

[0024] Figure 4 It is a structural schematic diagram of the self-locking rod of the present invention;

[0025] Figure 5 It is a schematic diagram of the structure of the push rod after self-locking of the present invention;

[0026] Description of reference numerals:

[0027] 1. Chassis; 2. Sensor bracket; 3. Wheels; 4. Dish placing rod; 5. Motor; 6. Dish placing plate; 7. Push rod; 8. Fixed plate; 9. S pole of magnet; 10. N pole of magnet; 11. Spring; 12. Closing coil; 13. Self-locking rod. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0029] Embodiment 1:

[0030] This embodiment provides a shock-absorbing food delivery robot. Figure 1 As shown, it includes a chassis 1, a driving mechanism is arranged below the chassis 1; a dish placing rod 4 is arranged above the chassis 1, and a dish placing plate 6 is arranged on the dish placing rod 4; a shock absorbing mechanism is arranged inside the dish placing rod 4; the driving mechanism is used to control the movement of the device, and the shock absorbing mechanism is used to absorb shock when the device moves.

[0031] In this embodiment, the shock absorbing mechanism includes a push rod 7, which is arranged in the cavity inside the dish placing rod 4; the top of the push rod 7 is connected to the bottom of the dish placing plate 6; the push rod 7 passes through a fixed plate 8, and the fixed plate 8 is arranged in the dish placing rod 4 and connected to the side wall of the dish placing rod 4; a magnet is connected to the bottom of the push rod 7; a spring 11 is arranged between the fixed plate 8 and the magnet; and a closed coil 12 is arranged below the magnet. The push rod 7 passes through the spring 11. The upper end of the magnet is the magnet S pole 9, and the lower end is the magnet N pole 10. A sensor bracket 2 is arranged at the front end of the chassis 1; the closed coil 12 is connected to the side wall of the dish placing rod 4.

[0032] When the food delivery robot passes through a small obstacle or an uneven road during its movement, the push rod 7 connected to the dish tray 6 will vibrate due to the bumps. During the downward stroke during the vibration process, the push rod 7 will give the magnet a downward thrust, and the magnet is connected to the spring 11. The spring 11 is forced to vibrate up and down, thereby driving the magnet to move up and down. When the magnet moves up and down, the magnetic flux lines passing through the closed coil 12 will change, so an induced current will be generated in the closed coil 12. According to Lenz's law, the magnetic field generated by the induced current will hinder the magnet and the coil from approaching or leaving. The magnet will be hindered by the Ampere force generated by the coil, so the magnet will stop faster, thereby quickly stopping the vibration of the dish rack of the food delivery robot. The sensor bracket 2 can be used to install infrared sensors and ultrasonic sensors, thereby controlling the robot to track and avoid obstacles. When encountering obstacles, it can automatically brake to avoid collisions and automatically stop when reaching a designated position for customers to pick up food.

[0033] In this embodiment, the driving mechanism includes a wheel arranged below the chassis 1; the wheel is coaxially arranged with the output shaft of the motor 5, and the motor 5 is fixed to the lower surface of the chassis 1. The motor 5 adopts a DC reduction motor 5, and the four wheels 3 connected to the motor 5, the two rear wheels are driving wheels; thereby driving the robot to move. The motor 5 can be connected to the two rear wheels 3 to drive the robot; or the motor 5 can be connected to all four wheels 3 to drive the robot.

[0034] In this embodiment, transversely connected holes are formed on the push rod 7, the fixing plate 8 and the dish placing rod 4; and a self-locking rod 13 is arranged in the hole.

[0035] When there is no food on the dish tray 6, the spring 11 is in an uncompressed state, the push rod 7, the fixing plate 8 and the hole on the dish placement rod 4 are in the same horizontal plane, and the self-locking rod 13 is inserted into the hole to self-lock the push rod 7, thereby maintaining the stability of the dish placement tray 6.

[0036] Embodiment 2:

[0037] Different from the above-mentioned embodiment, in this embodiment, the dish tray 6 is provided with multiple layers, and a dish tray rod 4 is provided under each layer of the dish tray 6, and a shock absorbing device is provided inside the dish tray rod 4. Figure 1 In the figure, the dish tray 6 is divided into two layers, an upper layer and an lower layer, and a dish rod 4 is arranged under each layer of the dish tray 6, and the dish rod 4 on the bottom layer is connected to the bottom plate 1; the dish rods 4 on the remaining layers are connected to the upper surface of the dish tray 6 corresponding to the bottom thereof, and a shock absorbing device is arranged in each layer of the dish rod 4 to realize shock-absorbing transportation of a variety of dishes.

[0038] Embodiment 3:

[0039] This embodiment provides a shock absorption method based on the shock absorption food delivery robot, comprising the following steps:

[0040] S1: In the initial state, the spring 11 is in an uncompressed state, the push rod 7, the fixing plate 8 and the hole on the dish placing rod 4 are in the same horizontal plane, and the self-locking rod 13 is located in the hole to self-lock the push rod 7, so as to keep the dish placing plate 6 stable and facilitate the placing of dishes on the dish placing plate 6;

[0041] S2: After placing the dishes, the self-locking rod 13 is pulled out, and the motor 5 starts to drive the device to move. During the movement, when the device encounters a small obstacle or an uneven road, the push rod 7 connected to the dish tray 6 will vibrate, and the push rod 7 moves vertically up and down inside the spring 11. The push rod 7 will exert force on the magnet, thereby pushing the magnet to move up and down. When the magnet moves, the magnetic flux lines passing through the closed coil 12 will change, and an induced current will be generated in the closed coil 12. According to Lenz's law, the magnetic field generated by the induced current will hinder the magnet and the coil from approaching or leaving, and the magnet will be hindered by the Ampere force generated by the closed coil 12, so that the magnet will stop faster;

[0042] S3: When the food is delivered to the destination, the spring 11 is reset, and the self-locking rod 13 is inserted again to achieve self-locking of the push rod 7. Then the robot returns to the original location.

[0043] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A shock-absorbing food delivery robot, characterized in that: The robot comprises a chassis (1), wherein a driving mechanism is arranged below the chassis (1); a dish placing rod (4) is arranged above the chassis (1), and a dish placing plate (6) is arranged on the dish placing rod (4); a shock absorbing mechanism is arranged inside the dish placing rod (4); the driving mechanism is used to control the movement of the device, and the shock absorbing mechanism is used to absorb shock when the robot moves.

2. The shock-absorbing food delivery robot according to claim 1, characterized in that: The shock absorbing mechanism comprises a push rod (7), a fixing plate (8), a self-locking rod (13), a spring (11), a magnet and a closed coil (12); the push rod (7) is arranged in a cavity inside a dish placing rod (4); the top of the push rod (7) is connected to the bottom of a dish placing plate (6); the push rod (7) passes through the fixing plate (8); the fixing plate (8) is arranged inside the dish placing rod (4) and is connected to the side wall of the dish placing rod (4); the bottom of the push rod (7) is connected to a magnet; a spring (11) is arranged between the fixing plate (8) and the magnet; and a closed coil (12) is arranged below the magnet.

3. The shock-absorbing food delivery robot according to claim 2, characterized in that: The push rod (7) passes through the spring (11).

4. The shock-absorbing food delivery robot according to claim 3, characterized in that: The upper end of the magnet is a magnet S pole (9), and the lower end is a magnet N pole (10).

5. The shock-absorbing food delivery robot according to claim 4, characterized in that: The driving mechanism comprises a wheel arranged below the chassis (1); the wheel is arranged coaxially with the output shaft of the motor (5), and the motor (5) is fixed on the lower surface of the chassis (1).

6. The shock-absorbing food delivery robot according to claim 5, characterized in that: The push rod (7), the fixing plate (8) and the dish placing rod (4) are provided with transversely connected holes; a self-locking rod (13) is arranged in the hole.

7. The shock-absorbing food delivery robot according to claim 6, characterized in that: The dish placing plate (6) is provided with multiple layers, and a dish placing rod (4) is provided below each layer of the dish placing plate (6), and a shock absorbing device is provided inside the dish placing rod (4).

8. The shock-absorbing food delivery robot according to claim 7, characterized in that: A sensor bracket (2) is arranged at the front end of the chassis (1).

9. The shock-absorbing food delivery robot according to claim 8, characterized in that: The closed coil (12) is connected to the side wall of the vegetable placing rod (4).

10. The shock absorbing method for a shock absorbing food delivery robot according to any one of claims 1 to 9, characterized in that: The steps include: S1: In the initial state, the spring (11) is in an uncompressed state, the push rod (7), the fixing plate (8) and the hole on the dish placement rod (4) are in the same horizontal plane, and the self-locking rod (13) is located in the hole to self-lock the push rod (7), thereby maintaining the stability of the dish placement tray (6) and facilitating the placement of dishes on the dish placement tray (6); S2: After the dishes are placed, the self-locking rod (13) is pulled out, and the motor (5) is driven to move the device. During the movement, when the device encounters a small obstacle or an uneven road, the push rod (7) connected to the dish tray (6) will vibrate, and the push rod (7) will move vertically up and down inside the spring (11). The push rod (7) will exert a force on the magnet, thereby pushing the magnet to move up and down. When the magnet moves, the magnetic flux lines passing through the closed coil (12) will change, and an induced current will be generated in the closed coil (12). According to Lenz's law, the magnetic field generated by the induced current will hinder the magnet and the coil from approaching or leaving each other. The magnet will be hindered by the Ampere force generated by the closed coil (12), so that the magnet will stop faster. S3: When the dish is delivered to the destination, the spring (11) is reset and the self-locking rod (13) is inserted again, so that the push rod (7) is self-locked.

Images