Conveying and carrying equipment

Abstract

The utility model relates to the technical field of conveying and carrying equipment, and discloses conveying and carrying equipment, a protective cover plate is mounted on the lower portion of a carrying support in a limited and suspended mode through a groove seat, and the upper portion of a meal box can be temporarily sealed and protected through shielding of the protective cover plate during carrying. When external pollutants are prevented from entering, the situation that soup food is scattered due to abnormal work of the multi-axis robot can be avoided, and when positioning deviation occurs, the protective cover plate which is pushed by the meal box and is not aligned and embedded upwards pushes the pressure sensor; through abnormal pressure induction, the situation that the multi-axis robot clamps and carries a meal box in a wrong positioning state can be avoided, and the situation that the meal box falls off due to clamping dislocation is avoided, and a piston air cylinder is installed on the upper portion of a carrying support through an air exhaust driving cylinder in a driving mode; after the protective cover plate is positioned and covered, the protective cover plate can be connected and limited through air exhaust, so that the sealing performance of the upper part of the meal box is improved, and meanwhile, a double-carrying limiting structure can be formed by matching with supporting and limiting of the carrying clamping jaw.

Description

Technical Field

[0001] This utility model relates to the field of transmission and handling equipment technology, specifically to a transmission and handling equipment. Background Technology

[0002] As people's living standards improve, more and more people are choosing to dine out. As a result, the demand for automated and intelligent cooking is also growing. Smart restaurants are a catering service model that combines modern technologies such as artificial intelligence, the Internet of Things, and big data. Through intelligent management and services, they can improve customer experience and satisfaction, reduce operating costs, and improve operational efficiency. They represent the integration of technology and catering and are one of the future trends in the catering industry.

[0003] In smart restaurants, mechanized conveying and handling equipment is often used to transport and move food containers in order to improve the efficiency of food delivery. In order to facilitate the use of food containers, the top of the food containers is left open during the transportation process. Due to the lack of shielding and protection, the food is easily contaminated and soups are easily spilled during the transportation process. Therefore, a conveying and handling equipment is proposed. Utility Model Content

[0004] The purpose of this invention is to provide a transmission and handling device to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a transmission and handling device, comprising a handling mechanism and a transfer mechanism, wherein the handling mechanism is used for moving and handling lunch boxes, the handling mechanism comprising a ground rail, a slide table drive motor, a multi-axis robot and a clamping assembly, wherein the multi-axis robot is slidably mounted on the upper part of the ground rail by the slide table drive motor, and the clamping assembly is mounted on the arm of the multi-axis robot;

[0006] The clamping assembly includes a transport support, a clamping drive unit, transport grippers, a vacuum drive cylinder, a piston cylinder, a protective cover, and a pressure sensor. The transport grippers are driven and installed on the lower part of the transport support by the clamping drive unit. The protective cover is suspended and floated on the lower part of the transport support by a slot support. The pressure sensor is installed on the middle connecting side of the protective cover. The piston cylinder is driven by the vacuum drive cylinder for vacuuming the food container.

[0007] The transfer mechanism is used for the horizontal transfer of lunch boxes. The transfer mechanism includes a transfer platform, a servo slide, and a transfer carrier. The transfer carrier is installed on the upper part of the transfer platform by the servo slide.

[0008] Preferably, the aforementioned mounting slide is mounted on the upper part of the ground rail, and the base of the multi-axis robot is fixedly mounted to the upper part of the mounting slide.

[0009] Preferably, the slide drive motor is fixedly mounted on the upper side of the mounting slide by a bracket, and a drive gear is fixedly mounted on the shaft end of the slide drive motor. The drive gear meshes with the drive tooth groove provided on the side of the ground rail.

[0010] Preferably, the aforementioned transport support is connected and installed to the arm end of the multi-axis robot. The clamping drive unit is fixedly installed on the top middle part of the transport support. A sliding guide rail is fixed on the lower side of the transport support. The upper part of the transport gripper is slidably fitted into the sliding guide rail through a slot. The inner side of the transport gripper is fixedly connected to the drive end of the clamping drive unit through a connecting seat.

[0011] Preferably, a docking block is fixed to the lower side of the support portion of the aforementioned transport gripper, a docking groove seat is fixed to the upper part of the protective cover, the docking block is slidably fitted into the groove of the docking groove seat, a positioning cylinder seat is fixedly installed in the middle of the bottom side of the transport support, a positioning column is fixedly installed in the middle of the top side of the protective cover, the positioning column is movably inserted into the hole in the middle of the positioning cylinder seat, and the pressure sensor is fixedly installed in the lower part of the positioning cylinder seat.

[0012] Preferably, the aforementioned suction drive cylinder is fixedly installed on the front side of the clamping drive unit, the piston cylinder is fixedly installed on the front side of the suction drive cylinder, the suction drive cylinder and the push rod end of the piston cylinder are integrally fixedly connected by a connecting block support, the port of the piston cylinder is fixedly connected to the suction port provided on the upper part of the protective cover plate through an air pipe, and a one-way valve is provided on the upper part of the protective cover plate.

[0013] Preferably, the support portion of the servo slide is fixedly installed on the top surface of the transfer platform, the transfer platform is slidably supported by the slide rail provided on the upper part of the transfer platform, the lower part of the transfer platform is fixedly installed on the drive end of the servo slide, and a lunch box limiting block is fixedly installed at each of the four corners of the upper part of the transfer platform.

[0014] Compared with the prior art, the present invention, by adopting the above technical solution, has the following technical effects:

[0015] 1. This conveying and handling equipment uses a multi-axis robot as the handling drive structure, which makes the handling action precise and fast. It adopts a box-lid-type protective structure. A protective cover is installed on the lower part of the handling support through the slot seat limit suspension. During handling, the protective cover can temporarily seal and protect the upper part of the food box. This not only prevents external contaminants from entering, but also prevents soup and other food from spilling due to abnormal operation of the multi-axis robot, which greatly improves the working stability and safety of the device.

[0016] 2. The protective cover adopts a floating installation structure, and a pressure sensor is set at the middle connection of the protective cover. During the handling of the lunch box, when a positioning deviation occurs, the protective cover that is not properly aligned and fitted is pushed upward by the lunch box, thus pushing the pressure sensor upward. This abnormal pressure sensing can prevent the multi-axis robot from clamping and handling the lunch box in an incorrect positioning state, avoiding the lunch box falling due to clamping misalignment, and greatly improving the working reliability of the device.

[0017] 3. The cover plate is limited by a vacuum type. A piston cylinder is installed on the upper part of the transport support by a vacuum drive cylinder. After the protective cover plate is positioned and closed, the connection limit of the protective cover plate can be realized by vacuuming. While improving the sealing of the upper part of the lunch box, it can form a double transport limit structure with the support limit of the transport claw, which can effectively improve the working transport stability of the device. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the working and installation structure of the present invention and the food delivery equipment;

[0020] Figure 2 This is a schematic diagram of the overall working and installation structure of this utility model;

[0021] Figure 3 This is a schematic diagram of the overall three-dimensional structure of the handling mechanism of this utility model;

[0022] Figure 4 This is a schematic diagram of the upper structure of the clamping component of this utility model in operation.

[0023] Figure 5 This is a schematic diagram of the lower structure of the clamping component of this utility model in operation.

[0024] Figure 6 This is a schematic diagram of the transfer mechanism of this utility model.

[0025] Explanation of reference numerals in the attached drawings: 1. Ground rail base; 2. Slide drive motor; 3. Multi-axis robot; 4. Mounting slide; 5. Drive gear; 6. Transport support; 7. Clamping drive unit; 8. Transport gripper; 9. Vacuum drive cylinder; 10. Piston cylinder; 11. Protective cover plate; 12. Pressure sensor; 13. Sliding guide rail; 14. Docking slot base; 15. Docking support block; 16. Transfer platform; 17. Servo slide; 18. Transfer platform; 19. Lunch box limit block. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0027] It should be noted that the structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which this application can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size should still fall within the scope of the technical content disclosed in this application, provided that they do not affect the effects and purposes that this application can produce.

[0028] Example

[0029] Please see Figure 1-6 This utility model provides a technical solution: a transmission and handling device, including a handling mechanism and a transfer mechanism. The handling mechanism is used for moving and handling lunch boxes. The handling mechanism includes a ground rail base 1, a slide table drive motor 2, a multi-axis robot 3, and a clamping assembly. The multi-axis robot 3 is slidably mounted on the upper part of the ground rail base 1 driven by the slide table drive motor 2. Specifically, see attached... Figure 3 As shown, the ground rail base 1 is used for the movement guidance support of the multi-axis robot 3. The mounting slide 4 is slidably supported and installed on the upper part of the ground rail base 1. The multi-axis robot 3 is a multi-axis robotic arm in the prior art. The multi-axis robot 3 is used as a handling drive structure, and the handling action is precise and fast. The base of the multi-axis robot 3 is fixedly installed on the upper part of the mounting slide 4. In order to drive the sliding of the mounting slide 4, the slide drive motor 2 is fixedly installed on the upper side of the mounting slide 4 by a bracket. The drive gear 5 is fixedly installed on the shaft end of the slide drive motor 2. The drive gear 5 is meshed with the drive tooth groove provided on the side of the ground rail base 1. The sliding drive of the mounting slide 4 is completed through the tooth groove meshing.

[0030] The gripping assembly is mounted on the arm of the multi-axis robot 3 for handling and gripping lunch boxes. The gripping assembly includes a handling support 6, a gripping drive unit 7, a handling gripper 8, a vacuum drive cylinder 9, a piston cylinder 10, a protective cover 11, and a pressure sensor 12. The handling gripper 8 is driven by the gripping drive unit 7 and mounted on the lower part of the handling support 6. See attached diagram for details. Figure 3 As shown, the transport support 6 is connected and installed to the arm end of the multi-axis robot 3, serving as a transport support structure for handling lunch boxes. The gripping drive unit 7 is a screw-type electric gripper in the prior art, and its model can be CHS2-S68, as shown in the attached diagram. Figure 4 As shown, the clamping drive unit 7 is fixedly installed on the top middle part of the transport support 6. The inner side of the transport claw 8 is fixedly connected to the drive end of the clamping drive unit 7 through a connecting seat. In order to provide sliding guidance support for the transport claw 8, a sliding guide rail 13 is fixed on the lower side of the transport support 6. The upper part of the transport claw 8 is slidably fitted into the sliding guide rail 13 through a slot.

[0031] The protective cover 11 is suspended and mounted on the lower part of the transport support 6 via a slot seat, as detailed in the attached document. Figure 5 As shown, a docking block 15 is fixed to the lower side of the support portion of the transport gripper 8, and a docking slot seat 14 is fixed to the upper part of the protective cover plate 11. The docking block 15 and the slot of the docking slot seat 14 are slidably fitted together. The protective cover plate 11 is suspended and installed on the lower part of the transport support 6 through the slot seat limit. During transport, the protective cover plate 11 can temporarily seal and protect the upper part of the lunch box, preventing external contaminants from entering and preventing soup-like food from spilling due to abnormal operation of the multi-axis robot 3, greatly improving the working stability and safety of the device. In order to install and position the protective cover plate 11, a positioning cylinder seat is fixedly installed in the middle of the bottom side of the transport support 6. A positioning post is fixedly installed on the top center of the protective cover plate 11. The positioning post is movably inserted into the hole in the center of the positioning cylinder seat. The pressure sensor 12 is fixedly installed on the lower part of the positioning cylinder seat. The protective cover plate 11 adopts a floating installation structure, and a pressure sensor 12 is set at the connection point in the middle of the protective cover plate 11. During the handling of the lunch box, when a positioning deviation occurs, the protective cover plate 11, which is not properly aligned and fitted, is pushed upward by the lunch box, thus pushing the pressure sensor 12 upward. Through abnormal pressure sensing, the multi-axis robot 3 can be prevented from clamping and handling the lunch box in an incorrect positioning state, avoiding the lunch box falling due to clamping misalignment, and greatly improving the working reliability of the device.

[0032] Piston cylinder 10 is driven by suction cylinder 9 for suction work inside the lunch box. Specifically, suction cylinder 9 is an electric cylinder, as shown in the attached figure. Figure 4As shown, the suction drive cylinder 9 is fixedly installed on the front side of the clamping drive unit 7, and the piston cylinder 10 is fixedly installed on the front side of the suction drive cylinder 9. The push rod end of the suction drive cylinder 9 and the piston cylinder 10 are fixedly connected by a connecting block support. In order to facilitate the air guiding and communication, the port of the piston cylinder 10 is fixedly connected to the suction interface provided on the upper part of the protective cover plate 11 through an air pipe. The cover plate is limited by suction. The piston cylinder 10 is installed on the upper part of the transport support 6 by the suction drive cylinder 9. After the protective cover plate 11 is positioned and closed, the connection limit of the protective cover plate 11 can be realized by suction. While improving the sealing of the upper part of the lunch box, it can form a double transport limit structure with the support limit of the transport claw 8, which can effectively improve the working transport stability of the device. In order to realize the suction sealing and exhaust communication, a floating one-way valve is provided on the upper part of the protective cover plate 11.

[0033] The transfer mechanism is used for the horizontal transfer of lunch boxes. The mechanism includes a transfer platform 16, a servo slide 17, and a transfer stage 18. The transfer stage 18 is mounted on the upper part of the transfer platform 16 via the servo slide 17. Specifically, see attached... Figure 6 As shown, the support of the servo slide 17 is fixedly installed on the top surface of the transfer platform 16. The transfer platform 18 is slidably supported by the slide rail provided on the upper part of the transfer platform 16. The transfer platform 18 is provided with two sets of equipment for food delivery and food return respectively. The lower part of the transfer platform 18 is fixedly installed on the drive end of the servo slide 17. It can slide horizontally by the drive of the servo slide 17. In order to support and position the placed food boxes, food box limiting blocks 19 are fixedly installed at the four corners of the upper part of the transfer platform 18. In order to facilitate the control of food delivery operation, an operation screen is provided in the middle of the transfer platform 16.

[0034] Working principle or structural principle: This device is used in conjunction with intelligent food pick-up equipment, with the transfer platform 16 located at the food pick-up and delivery point on the back kitchen side;

[0035] During meal delivery: Staff place the meal filled with food on the upper part of the delivery area corresponding to the delivery platform 18 on the upper part of the delivery platform 16. Then, they select the meal type and the corresponding number of the meal box placement area via the operation screen. After completion, the servo slide 17 drives the delivery platform 18 to move the meal box to the rear food collection area. Simultaneously, the slide drive motor 2 drives the mounting slide 4 through side tooth meshing, causing the multi-axis robot 3 to move horizontally on the ground rail 1. When the multi-axis robot 3 moves to the food collection position, the arm of the multi-axis robot 3 drives the transport support 6 to move directly above the meal box. With the four sets of transport grippers 8 in an outward-opening state, the transport support 6 slowly moves down, causing the lower part of the protective cover 11 to engage and close with the upper opening of the meal box. At the same time, the pressure sensor 12 senses the contact pressure value; if the value is abnormal, the operation stops. The transport process is stopped. Then, the transport support 6 moves up to reset and recalibrate, then moves down to perform a second transport. After three errors, the process stops and a maintenance alarm is issued. When the value is normal, the transport process continues. The piston rod of the piston cylinder 10 is moved outward by the suction drive cylinder 9, and the floating one-way valve of the protective cover 11 is closed. The negative pressure formed in the lunch box is used to limit the installation of the protective cover 11. Then, under the drive of the clamping drive unit 7, the four sets of transport grippers 8 move inward to clamp and support the lunch box. Then, the multi-axis robot 3 moves and transports the lunch box to the corresponding numbered food placement position and places the lunch box on the placement area. Then, the four sets of transport grippers 8 move outward, and the suction drive cylinder 9 drives the piston cylinder 10 to exhaust air, which opens the floating one-way valve to unlock the protective cover 11. Then, the multi-axis robot 3 drives the transport support 6 to move up to reset and perform the next transport operation.

[0036] When performing lunch box recycling: Similarly, the multi-axis robot 3 moves and transports the empty lunch boxes, placing them on the upper part of the transfer platform 18 corresponding to the food collection area on the transfer platform 16. Then, the servo slide 17 drives the transfer platform 18 forward, and the staff takes away the empty plates and prepares the food according to the amount of food remaining on the plates in each position displayed on the screen.

[0037] In summary, this conveying and handling equipment uses a multi-axis robot 3 as the driving structure for precise and rapid handling. It employs a box-lid-type protective structure, with a protective cover 11 suspended and mounted on the lower part of the handling support 6 via a slotted seat. During handling, the protective cover 11 provides temporary sealing protection for the upper part of the lunchbox, preventing external contaminants from entering and avoiding spillage of soup or other food items caused by abnormal operation of the multi-axis robot 3. This significantly improves the stability and safety of the device. The protective cover 11 uses a floating installation structure, and a pressure sensor 12 is installed at the central connection point of the protective cover 11. During the handling of the lunchbox, if a positioning deviation occurs, the sensor will be pushed back by the lunchbox. The misaligned protective cover 11 pushes the pressure sensor 12 upwards. The abnormal pressure sensing can prevent the multi-axis robot 3 from clamping and transporting the lunch box in an incorrect positioning state, thus avoiding the lunch box falling due to misalignment and greatly improving the working reliability of the device. The cover is limited by a vacuum type. A piston cylinder 10 is installed on the upper part of the transport support 6 by a vacuum drive cylinder 9. After the protective cover 11 is positioned and closed, the connection of the protective cover 11 can be limited by vacuuming. While improving the sealing of the upper part of the lunch box, it can form a double transport limit structure with the support limit of the transport gripper 8, which can effectively improve the working transport stability of the device.

[0038] Those skilled in the art will understand that the features described in the various embodiments and / or claims of this utility model can be combined or combined in various ways, even if such combinations or combinations are not explicitly described in this utility model. In particular, the features described in the various embodiments and / or claims of this utility model can be combined or combined in various ways without departing from the spirit and teachings of this utility model. All such combinations and / or combinations fall within the scope of this utility model.

Claims

1. A conveying and handling device, comprising a handling mechanism and a transfer mechanism, characterized in that: The transport mechanism is used for moving and transporting lunch boxes. The transport mechanism includes a ground rail (1), a slide drive motor (2), a multi-axis robot (3), and a clamping assembly. The multi-axis robot (3) is driven and slidably mounted on the upper part of the ground rail (1) by the slide drive motor (2). The clamping assembly is mounted on the arm of the multi-axis robot (3). The clamping assembly includes a transport support (6), a clamping drive unit (7), a transport gripper (8), a vacuum drive cylinder (9), a piston cylinder (10), a protective cover plate (11), and a pressure sensor (12). The transport gripper (8) is driven and installed on the lower part of the transport support (6) by the clamping drive unit (7). The protective cover plate (11) is suspended and installed on the lower part of the transport support (6) by a slot support. The pressure sensor (12) is installed on the middle connecting side of the protective cover plate (11). The piston cylinder (10) is driven by the vacuum drive cylinder (9) for vacuuming the food container. The transfer mechanism is used for horizontal transfer of lunch boxes. The transfer mechanism includes a transfer platform (16), a servo slide (17), and a transfer stage (18). The transfer stage (18) is driven and installed on the upper part of the transfer platform (16) by the servo slide (17).

2. The conveying and handling equipment according to claim 1, characterized in that: It also includes a mounting slide (4), which is slidably supported on the upper part of the ground rail (1), and the base of the multi-axis robot (3) is fixedly installed on the upper part of the mounting slide (4).

3. The conveying and handling equipment according to claim 2, characterized in that: The slide drive motor (2) is fixedly installed on the upper side of the mounting slide (4) by a bracket. A drive gear (5) is fixedly installed on the shaft end of the slide drive motor (2). The drive gear (5) meshes with the drive tooth groove provided on the side of the ground rail seat (1).

4. The conveying and handling equipment according to claim 3, characterized in that: The transport support (6) is connected and installed to the arm end of the multi-axis robot (3). The clamping drive unit (7) is fixedly installed on the top middle part of the transport support (6). A sliding guide rail (13) is fixed on the lower side of the transport support (6). The upper part of the transport gripper (8) is slidably fitted with the sliding guide rail (13) through a slot. The inner side of the transport gripper (8) is fixedly connected to the drive end of the clamping drive unit (7) through a connecting seat.

5. The conveying and handling equipment according to claim 4, characterized in that: A docking block (15) is fixed on the lower side of the support portion of the transport gripper (8), and a docking groove seat (14) is fixed on the upper part of the protective cover plate (11). The docking block (15) and the groove portion of the docking groove seat (14) are slidably fitted together. A positioning cylinder seat is fixedly installed on the middle of the bottom side of the transport support (6), and a positioning column is fixedly installed on the middle of the top side of the protective cover plate (11). The positioning column is movably inserted into the hole in the middle of the positioning cylinder seat. The pressure sensor (12) is fixedly installed on the lower part of the positioning cylinder seat.

6. A conveying and handling device according to claim 5, characterized in that: The suction drive cylinder (9) is fixedly installed on the front side of the clamping drive part (7), and the piston cylinder (10) is fixedly installed on the front side of the suction drive cylinder (9). The push rod end of the suction drive cylinder (9) and the piston cylinder (10) are integrally fixedly connected by a connecting block support. The port of the piston cylinder (10) is fixedly connected to the suction port provided on the upper part of the protective cover plate (11) through an air pipe. A one-way valve is provided on the upper part of the protective cover plate (11).

7. The conveying and handling equipment according to claim 1, characterized in that: The support part of the servo slide (17) is fixedly installed on the top surface of the transfer platform (16). The transfer platform (18) is slidably supported by the slide rail provided on the upper part of the transfer platform (16). The lower part of the transfer platform (18) is fixedly installed on the drive end of the servo slide (17). A lunch box limiting block (19) is fixedly installed at each of the four corners of the upper part of the transfer platform (18).

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