CN111515968A - Food delivery robot - Google Patents
Food delivery robot Download PDFInfo
- Publication number
- CN111515968A CN111515968A CN202010336183.XA CN202010336183A CN111515968A CN 111515968 A CN111515968 A CN 111515968A CN 202010336183 A CN202010336183 A CN 202010336183A CN 111515968 A CN111515968 A CN 111515968A
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- China
- Prior art keywords
- fixedly connected
- rack
- end part
- data
- rotating shaft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/026—Acoustical sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
Abstract
The invention relates to a food delivery robot, comprising: a frame; the steering mechanism is arranged in the rack and is fixedly connected with the rack; the upper end part of the steering mechanism extends upwards out of the frame; the traveling mechanism is arranged on the steering mechanism and is fixedly connected with the rack, and the traveling mechanism drives the rack to move; the pick-and-place mechanism is arranged above the rack and connected with the upper end part of the steering mechanism, and the steering mechanism drives the pick-and-place mechanism to rotate; the guide module is arranged on the rack and is fixedly connected with the rack; the guide module is connected with the pick-and-place mechanism, the steering mechanism and the walking mechanism through lines. Compared with the prior art, the automatic dinner plate taking and placing device can avoid obstacles, move to a set position to take and place dinner plates, reduce early-stage work and is convenient and efficient.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a food delivery robot.
Background
Magnetic conductance robot, track robot and two-dimensional code vision assistance-localization real-time robot among the prior art have following not enough: 1. the magnetic conduction robot works by utilizing a ground fixed magnetic stripe, and has the defects that the ground magnetic stripe is required to be laid in a service place, and the magnetic conduction robot can only walk on a set magnetic line after the laying is finished; 2. the track robot works by utilizing the existing fixed track, and has the defects that the track needs to be customized and produced according to the decoration design of a restaurant, and is placed into the robot for use after being installed, and if the layout is changed, the customized track is difficult to change; 3. the two-dimensional code vision-assisted walking robot works by using vision reading, and has the defects that a large number of stationing constructions are needed in a service place, two workers are needed to construct a 800 dining room for at least 3-5 days to finish two-dimensional code mounting, and even if construction is not troublesome, in actual food delivery service, only stopping or avoiding obstacles with small dimensions can be achieved if obstacles are met, the obstacles cannot be separated from a set two-dimensional code layout, so the motion track is also very limited. It is necessary to solve these problems.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the above-mentioned problems in the prior art. Therefore, one objective of the present invention is to provide a food delivery robot capable of avoiding obstacles, moving to a set position to pick and place a food tray, reducing the previous work, and being convenient and efficient.
The technical scheme for solving the technical problems is as follows: a meal delivery robot, comprising:
a frame;
the steering mechanism is arranged in the rack and is fixedly connected with the rack; the upper end part of the steering mechanism extends out of the rack upwards;
the traveling mechanism is arranged on the steering mechanism and is fixedly connected with the rack, and the traveling mechanism drives the rack to move;
the picking and placing mechanism is arranged above the rack and connected with the upper end part of the steering mechanism, and the steering mechanism drives the picking and placing mechanism to rotate;
the guide module is arranged on the rack and fixedly connected with the rack; the guide module is connected with the pick-and-place mechanism, the steering mechanism and the walking mechanism through lines; the guiding module constructs a map through a laser radar, ultrasonic induction ranging is utilized again, path calculation is carried out, the traveling mechanism is guided to move to a set position, the steering mechanism is controlled to drive the taking and placing mechanism to steer, and the taking and placing mechanism is controlled to take and place dinner plates.
The invention has the beneficial effects that: the steering mechanism, the walking mechanism, the taking and placing mechanism and the guide module work in a coordinated mode to guide the food delivery robot to avoid obstacles and move to a set position to take and place the dinner plate; the track is not required to be customized, and the scene is not required to be laid in the early stage, so that the early-stage work of the merchant can be effectively reduced, the scene change is not limited, and convenience and high efficiency are brought to the merchant.
On the basis of the technical scheme, the invention can be further improved as follows.
Further, the rack includes:
an outer ring plate;
the middle cover is arranged at the upper end of the outer ring plate and is fixedly connected with the outer ring plate;
the middle supporting plate is arranged in the middle of the inner side of the outer ring plate and is fixedly connected with the inner side wall of the outer ring plate;
and the bottom plate is arranged at the lower end of the outer ring plate and is fixedly connected with the lower end part of the outer ring plate.
The beneficial effect of adopting the further scheme is that: the frame structure is simple, the steering mechanism, the walking mechanism, the taking and placing mechanism and the guide module are convenient to support, and the cost can be effectively reduced.
Further, the steering mechanism includes:
the straight gear is horizontally arranged below the bottom plate;
the upper end part of the driving device is connected with the middle supporting plate, and the lower end part of the driving device penetrates through a through hole in the middle of the bottom plate to be meshed with the straight gear;
the upper end part of the driven device is connected with the middle supporting plate, and the lower end part of the driven device penetrates through a through hole in the middle of the bottom plate to be meshed with the straight gear.
The beneficial effect of adopting the further scheme is that: in the rotating process of the straight gear, the steering mechanism can be driven to steer, so that the walking mechanism and the pick-and-place mechanism are controlled to rotate, the steering precision is high, and the running precision of the food delivery robot is improved.
Further, the driving device includes:
the stepping motor is arranged at the upper end of the middle supporting plate, and the output end of the stepping motor downwards penetrates through the middle supporting plate;
the first rotating shaft is arranged below the middle supporting plate, and the upper end part of the first rotating shaft is connected with the output end of the stepping motor through a coupler;
the first gear is sleeved at the lower end part of the first rotating shaft and is meshed with the straight gear;
the driven device includes:
the upper end part of the second rotating shaft is connected with the middle supporting plate through a first bearing;
and the second gear is sleeved at the lower end part of the second rotating shaft and is meshed with the straight gear.
The beneficial effect of adopting the further scheme is that: the driving device and the driven device are simple in structure, the straight gear can be precisely controlled to rotate, and the steering precision of the steering mechanism can be improved.
Further, the steering mechanism further includes:
the bracket is arranged at the upper end of the straight gear and is fixedly connected with the straight gear; the upper end part of the bracket upwards passes through the through hole in the middle of the bottom plate and the through hole in the middle of the middle supporting plate to the upper part of the middle supporting plate;
the lower end part of the third rotating shaft is fixedly connected with the upper end part of the bracket, and the upper end part of the transmission shaft extends out of the middle cover and is fixedly connected with the pick-and-place mechanism;
the bearing sleeve cup is arranged at the lower end of the middle cover and is fixedly connected with the middle cover; and a second bearing is arranged in the bearing sleeve cup and sleeved on the third rotating shaft.
The beneficial effect of adopting the further scheme is that: the straight gear, the bracket, the third rotating shaft and the taking and placing mechanism are linked to drive the taking and placing mechanism to turn, so that the turning precision and efficiency of the taking and placing mechanism are improved.
Further, the pick and place mechanism comprises:
the supporting rod is horizontally arranged at the upper end of the third rotating shaft, and one end of the supporting rod is fixedly connected with the upper end of the third rotating shaft;
the supporting seat is fixedly connected with the other end of the supporting rod;
the hydraulic cylinder is arranged on the supporting seat and is fixedly connected with the supporting seat;
the shaft sleeve is arranged below the supporting seat, and an output shaft of the hydraulic cylinder is vertically and downwards fixedly connected with the shaft sleeve;
the mechanical fingers are arranged at the lower end of the supporting seat, and the mechanical fingers surround the shaft sleeve; the upper end part of each mechanical finger is hinged with the bottom of the supporting seat; the middle part of each mechanical finger is connected with the shaft sleeve through a connecting rod.
The beneficial effect of adopting the further scheme is that: the shaft sleeve drives a plurality of mechanical fingers to grab or put away the dinner plate in the moving process, the transmission efficiency is high, and the energy consumption can be effectively reduced.
Further, the traveling mechanism includes:
the driving wheel is arranged in a through hole formed in the middle of the straight gear;
the two bearing seats are respectively arranged at two ends of the driving wheel, and both the two bearing seats are fixedly connected with the upper end surface of the straight gear; a third bearing is arranged in each bearing seat; a fourth rotating shaft is connected in the middle of the driving wheel, and two ends of the fourth rotating shaft are respectively connected with two third bearings;
the direct current motor is arranged on the straight gear and is fixedly connected with the upper end face of the straight gear; the direct current motor is arranged on one side of the bearing seat, and an output shaft of the direct current motor is connected with the fourth rotating shaft.
The beneficial effect of adopting the further scheme is that: the driving wheel can be grounded in the rotating process, so that the rack is driven to move, and the moving efficiency is improved; the straight gear can drive the driving wheel, the bearing seat and the direct current motor to synchronously rotate, so that the rack is driven to steer, the transmission efficiency is high, and the rotation precision is improved.
Furthermore, the travelling mechanism also comprises a plurality of casters, and the upper end part of each caster is connected with the bottom of the rack through a telescopic rod; each telescopic rod is sleeved with a spring, and the upper end of each spring is connected with the bottom of the rack; the lower end of the spring is connected with the corresponding caster.
The beneficial effect of adopting the further scheme is that: the plurality of trundles can drive the rack to move faster, so that the meal delivery robot has higher moving efficiency and more stable movement; the telescopic link and the cooperation of spring function can make the truckle remove the in-process effectively to move away to avoid possible earthquakes, simple structure for food delivery robot place can pass through, and the operation is smooth-going stable, improves service speed and quality.
Further, the guide module is arranged at the upper end of the middle cover and is fixedly connected with the middle cover; the guide module includes:
the laser radar unit scans the food delivery area to obtain scanning data, and the scanning data is used for constructing area map data; transmitting the regional map data to a processor;
the ultrasonic unit is used for ranging food delivery points in a food delivery area to obtain ranging data; transmitting the ranging data to a processor;
the probe unit is used for detecting obstacles in a food delivery area to obtain obstacle data; transmitting the obstacle data to a processor;
the processor processes the regional map data, the ranging data and the obstacle data, and performs path calculation to obtain path data; transmitting the path data to a navigation unit;
the navigation unit controls the output travelling mechanism to move to a set position according to the path data, and controls the steering mechanism to drive the pick-and-place mechanism to steer after the travelling mechanism moves in place; generating arrival data after the steering mechanism turns to the right position;
and the control unit acquires the bit data and controls the taking and placing mechanism to take and place the dinner plate according to the in-place data.
The beneficial effect of adopting the further scheme is that: the laser radar unit, the ultrasonic unit, the probe unit, the processor, the navigation unit and the control unit work in a coordinated mode, the food delivery robot can be guided to avoid obstacles and move to a set position to take and place a dinner plate, and control efficiency and precision are high; the track is not required to be customized, and the scene is not required to be laid in the early stage, so that the early-stage work of the merchant can be effectively reduced, the scene change is not limited, and convenience and high efficiency are brought to the merchant.
Drawings
FIG. 1 is a schematic front view of a food delivery robot according to the present invention;
FIG. 2 is a cross-sectional view BB of FIG. 1;
FIG. 3 is a schematic side view of a food delivery robot according to the present invention;
FIG. 4 is a cross-sectional view CC of FIG. 3;
fig. 5 is a block diagram of a food delivery robot according to the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
1. the device comprises a rack, 1.1, an outer ring plate, 1.2, a middle cover, 1.3, a middle supporting plate, 1.4 and a bottom plate;
2. a steering mechanism 2.1, a straight gear 2.2, a driving device 2.3 and a driven device;
2.2.1, a stepping motor, 2.2.2, a first rotating shaft, 2.2.3 and a first gear;
2.3.1, a second rotating shaft, 2.3.1 and a second gear;
2.4, a bracket, 2.5, a third rotating shaft, 2.6 and a bearing sleeve cup;
3. the device comprises a traveling mechanism, 3.1, a driving wheel, 3.2, a bearing seat, 3.3, a fourth rotating shaft, 3.4, a direct current motor, 3.5 and trundles;
4. the device comprises a taking and placing mechanism, 4.1, a support rod, 4.2, a support seat, 4.3, a hydraulic cylinder, 4.4, a shaft sleeve, 4.5 and a mechanical finger;
5. the system comprises a guide module, 5.1, a laser radar unit, 5.2, an ultrasonic unit, 5.3, a probe unit, 5.4, a processor, 5.5, a navigation unit, 5.6 and a control unit.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1 to 5, a meal delivery robot includes:
a frame 1;
the steering mechanism 2 is arranged in the rack 1, and is fixedly connected with the rack 1; the upper end part of the steering mechanism 2 extends upwards out of the frame 1;
the traveling mechanism 3 is arranged on the steering mechanism 2 and is fixedly connected with the rack 1, and the traveling mechanism 3 drives the rack 1 to move;
the picking and placing mechanism 4 is arranged above the rack 1 and connected with the upper end part of the steering mechanism 2, and the steering mechanism 2 drives the picking and placing mechanism 4 to rotate;
the guide module 5 is arranged on the rack 1, and is fixedly connected with the rack 1; the guide module 5 is connected with the pick-and-place mechanism 4, the steering mechanism 2 and the walking mechanism 3 through lines; the guiding module 5 constructs a map through a laser radar, utilizes ultrasonic induction ranging to calculate a path, guides the traveling mechanism 3 to move to a set position, controls the steering mechanism 2 to drive the taking and placing mechanism 4 to steer, and controls the taking and placing mechanism 4 to take and place dinner plates.
The steering mechanism 2, the walking mechanism 3, the taking and placing mechanism 4 and the guide module 5 work in a coordinated mode to guide the food delivery robot to avoid obstacles and move to a set position to take and place the dinner plate; the track is not required to be customized, and the scene is not required to be laid in the early stage, so that the early-stage work of the merchant can be effectively reduced, the scene change is not limited, and convenience and high efficiency are brought to the merchant.
In the above embodiment, the frame 1 includes:
an outer ring plate 1.1;
the middle cover 1.2 is arranged at the upper end of the outer ring plate 1.1, and the middle cover 1.2 is fixedly connected with the outer ring plate 1.1;
the middle supporting plate 1.3 is arranged in the middle of the inner side of the outer ring plate 1.1, and is fixedly connected with the inner side wall of the outer ring plate 1.1;
and the bottom plate 1.4 is arranged at the lower end of the outer ring plate 1.1, and the bottom plate 1.4 is fixedly connected with the lower end of the outer ring plate 1.1.
The frame 1 has a simple structure, is convenient for supporting the steering mechanism 2, the walking mechanism 3, the pick-and-place mechanism 4 and the guide module 5, and can effectively reduce the cost.
In the above embodiment, the steering mechanism 2 includes:
the straight gear 2.1 is horizontally arranged below the bottom plate 1.4;
the upper end part of the driving device 2.2 is connected with the middle supporting plate 1.3, and the lower end part of the driving device 2.2 penetrates through a through hole in the middle of the bottom plate 1.4 to be meshed with the straight gear 2.1;
the upper end of the driven device 2.3 is connected with the intermediate supporting plate 1.3, and the lower end of the driven device 2.3 penetrates through a through hole in the middle of the bottom plate 1.4 to be meshed with the straight gear 2.1.
The driving device 2.2 can drive the straight gear 2.1 to rotate, and meanwhile, two driven devices 2.3 are arranged and can be linked with the straight gear 2.1; the straight gear 2.1 is supported by the driving device 2.2 and the two driven devices 2.3, so that the straight gear 2.1 can stably run;
straight-gear 2.1 rotates the in-process, can drive steering mechanism 2 and turn to control running gear 3 and get and put mechanism 4 and rotate, turn to the precision height, promote the operation precision of food delivery robot.
In the above embodiment, the drive means 2.2 comprise:
the stepping motor 2.2.1, the stepping motor 2.2.1 is arranged at the upper end of the middle supporting plate 1.3, and the output end of the stepping motor 2.2.1 downwards penetrates through the middle supporting plate 1.3;
the first rotating shaft 2.2.2 is arranged below the middle supporting plate 1.3, and the upper end part of the first rotating shaft 2.2.2 is connected with the output end of the stepping motor 2.2.1 through a coupler;
a first gear 2.2.3, wherein the first gear 2.2.3 is sleeved on the lower end part of the first rotating shaft 2.2.2, and the first gear 2.2.3 is meshed with the straight gear 2.1;
the driven device 2.3 comprises:
the upper end part of the second rotating shaft 2.3.1 is connected with the middle supporting plate 1.3 through a first bearing;
and the second gear 2.3.2, the second gear 2.3.2 is sleeved at the lower end part of the second rotating shaft 2.3.1, and the second gear 2.3.2 is meshed with the straight gear 2.1.
Drive arrangement 2.2 and slave unit 2.3 simple structure can accurate control spur gear 2.1 rotate, can promote steering mechanism 2's the precision that turns to.
In the above embodiment, the steering mechanism 2 further includes:
the bracket 2.4 is arranged at the upper end of the straight gear 2.1, and is fixedly connected with the straight gear 2.1; the upper end of the bracket 2.4 upwards passes through the through hole in the middle of the bottom plate 1.4 and the through hole in the middle of the middle supporting plate 1.3 to the upper part of the middle supporting plate 1.3;
the lower end part of the third rotating shaft 2.5 is fixedly connected with the upper end part of the bracket 2.4, and the upper end part of the transmission shaft extends out of the middle cover 1.2 and is fixedly connected with the pick-and-place mechanism 4;
the bearing sleeve cup 2.6 is arranged at the lower end of the middle cover 1.2, and the bearing sleeve cup 2.6 is fixedly connected with the middle cover 1.2; and a second bearing is arranged in the bearing sleeve cup 2.6 and sleeved on the third rotating shaft 2.5.
In the rotating process of the straight gear 2.1, the bracket 2.4 can be driven to rotate; the bracket 2.4 can drive the third rotating shaft 2.5 to rotate, and the third rotating shaft 2.5 drives the pick-and-place mechanism 4 to steer, so that the steering precision and efficiency of the pick-and-place mechanism 4 are improved;
bearing retainer cup 2.6 can ensure that third axis of rotation 2.5 rotates steadily, reduces frictional force, promotes rotation efficiency.
In the above embodiment, the pick and place mechanism 4 includes:
the supporting rod 4.1 is horizontally arranged at the upper end of the third rotating shaft 2.5, and one end part of the supporting rod 4.1 is fixedly connected with the upper end part of the third rotating shaft 2.5;
the supporting seat 4.2 is fixedly connected with the other end of the supporting rod 4.1;
the hydraulic cylinder 4.3 is arranged on the supporting seat 4.2 and is fixedly connected with the supporting seat 4.2;
the shaft sleeve 4.4 is arranged below the supporting seat 4.2, and an output shaft of the hydraulic cylinder 4.3 is vertically downwards fixedly connected with the shaft sleeve 4.4;
the mechanical fingers 4.5 are arranged at the lower end of the supporting seat 4.2, and the mechanical fingers 4.5 surround the shaft sleeve 4.4; the upper end part of each mechanical finger 4.5 is hinged with the bottom of the supporting seat 4.2; the middle part of each mechanical finger 4.5 is connected with the shaft sleeve 4.4 through a connecting rod.
In the rotating process of the third rotating shaft 2.5, the supporting rod 4.1 can be driven to rotate, the supporting rod 4.1 can drive the supporting seat 4.2 and the hydraulic cylinder 4.3, the shaft sleeve 4.4 and the mechanical finger 4.5 on the supporting seat 4.2 to rotate, and the rotating efficiency is high;
the output shaft of the hydraulic cylinder 4.3 stretches, the shaft sleeve 4.4 is driven to move in the vertical direction in the stretching process of the output shaft of the hydraulic cylinder 4.3, and the mechanical fingers 4.5 are driven to grab or put away the dinner plate in the moving process of the shaft sleeve 4.4; the transmission efficiency is high, and the energy consumption can be effectively reduced.
In the above embodiment, the traveling mechanism 3 includes:
the driving wheel 3.1 is arranged in a through hole arranged in the middle of the straight gear 2.1;
the two bearing seats 3.2 are respectively arranged at two ends of the driving wheel 3.1, and the two bearing seats 3.2 are fixedly connected with the upper end face of the straight gear 2.1; a third bearing is arranged in each bearing seat 3.2; a fourth rotating shaft 3.3 is connected in the middle of the driving wheel 3.1, and two ends of the fourth rotating shaft 3.3 are respectively connected with two third bearings;
the direct current motor 3.4 is arranged on the straight gear 2.1 and is fixedly connected with the upper end face of the straight gear 2.1; the direct current motor 3.4 is arranged on one side of the bearing seat 3.2, and an output shaft of the direct current motor 3.4 is connected with the fourth rotating shaft 3.3.
An output shaft of the direct current motor 3.4 drives the fourth rotating shaft 3.3 to rotate, the fourth rotating shaft 3.3 drives the driving wheel 3.1 to rotate, and the driving wheel 3.1 can be grounded in the rotating process, so that the rack 1 is driven to move, and the moving efficiency is improved;
straight-gear 2.1 rotates the in-process, can drive wheel 3.1, bearing frame 3.2 and direct current motor 3.4 and carry out synchronous rotation to drive frame 1 and turn to, transmission efficiency is high, promotes the rotation accuracy.
In the above embodiment, the traveling mechanism 3 further includes a plurality of casters 3.5, and the upper end of each caster 3.5 is connected to the bottom of the rack 1 through an expansion link; each telescopic rod is sleeved with a spring, and the upper end of each spring is connected with the bottom of the rack 1; the lower end of the spring is connected with the corresponding caster 3.5.
When the driving wheel 3.1 drives the rack 1 to move, the plurality of trundles 3.5 can drive the rack 1 to move faster, so that the food delivery robot has higher moving efficiency and more stable movement; the telescopic link and the cooperation of spring function can make the truckle 3.5 remove the in-process and can effectively move away to avoid possible earthquakes, simple structure for food delivery robot place can pass through, and the operation is smooth-going stable, improves service speed and quality.
In the above embodiment, as shown in fig. 5, the guiding module 5 is disposed at the upper end of the middle cover 1.2 and is fixedly connected with the middle cover 1.2; the guide module 5 includes:
the laser radar unit 5.1 is used for scanning the food delivery area to obtain scanning data, and area map data are constructed by using the scanning data; transmitting the regional map data to the processor 5.4;
the ultrasonic unit 5.2 is used for ranging food delivery points in the food delivery area to obtain ranging data; transmitting the ranging data to the processor 5.4;
the probe unit 5.3 is used for detecting the obstacles in the food delivery area to obtain obstacle data; transmitting the obstacle data to the processor 5.4;
the processor 5.4 is used for processing the regional map data, the ranging data and the obstacle data, and performing path calculation to obtain path data; transmitting the path data to the navigation unit 5.5;
the navigation unit 5.5 is used for controlling the output travelling mechanism 3 to move to a set position according to the path data, and controlling the steering mechanism 2 to drive the pick-and-place mechanism 4 to steer after the travelling mechanism 3 moves in place; generating arrival data after the steering mechanism 2 is steered to the right position;
and the control unit 5.6 is used for acquiring the bit data and controlling the taking and placing mechanism 4 to take and place the dinner plate according to the in-place data by the control unit 5.6.
The laser radar unit 5.1, the ultrasonic unit 5.2, the probe unit 5.3, the processor 5.4, the navigation unit 5.5 and the control unit 5.6 are coordinated to operate, so that the food delivery robot can be guided to avoid obstacles and move to a set position to take and place a dinner plate, and the control efficiency and the precision are high; the track is not required to be customized, and the scene is not required to be laid in the early stage, so that the early-stage work of the merchant can be effectively reduced, the scene change is not limited, and convenience and high efficiency are brought to the merchant.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. A meal delivery robot, comprising:
a frame (1);
the steering mechanism (2) is arranged in the rack (1), and the steering mechanism (2) is fixedly connected with the rack (1); the upper end part of the steering mechanism (2) extends upwards out of the rack (1);
the traveling mechanism (3) is arranged on the steering mechanism (2) and is fixedly connected with the rack (1), and the traveling mechanism (3) drives the rack (1) to move;
the picking and placing mechanism (4) is arranged above the rack (1) and connected with the upper end part of the steering mechanism (2), and the steering mechanism (2) drives the picking and placing mechanism (4) to rotate;
the guide module (5) is arranged on the rack (1) and fixedly connected with the rack (1); the guide module (5) is connected with the pick-and-place mechanism (4), the steering mechanism (2) and the walking mechanism (3) through lines; the guiding module (5) constructs a map through a laser radar, ultrasonic induction ranging is utilized again, path calculation is carried out, the walking mechanism (3) is guided to move to a set position, the steering mechanism (2) is controlled to drive the taking and placing mechanism (4) to steer, and the taking and placing mechanism (4) is controlled to take and place dinner plates.
2. The meal delivery robot according to claim 1, characterized in that the frame (1) comprises:
an outer ring plate (1.1);
the middle cover (1.2), the middle cover (1.2) is arranged at the upper end of the outer ring plate (1.1) and is fixedly connected with the outer ring plate (1.1);
the middle supporting plate (1.3), the middle supporting plate (1.3) is arranged in the middle of the inner side of the outer ring plate (1.1) and is fixedly connected with the inner side wall of the outer ring plate (1.1);
the bottom plate (1.4), the bottom plate (1.4) is arranged at the lower end of the outer ring plate (1.1) and is fixedly connected with the lower end of the outer ring plate (1.1).
3. The meal delivery robot according to claim 2, characterized in that the steering mechanism (2) comprises:
the straight gear (2.1), the straight gear (2.1) is horizontally arranged below the bottom plate (1.4);
the upper end part of the driving device (2.2) is connected with the middle supporting plate (1.3), and the lower end part of the driving device (2.2) penetrates through a through hole in the middle of the bottom plate (1.4) to be meshed with the straight gear (2.1);
the upper end of the driven device (2.3) is connected with the middle supporting plate (1.3), and the lower end of the driven device (2.3) penetrates through a through hole in the middle of the bottom plate (1.4) to be meshed with the straight gear (2.1).
4. The delivery robot according to claim 3, characterized in that the drive means (2.2) comprise:
the stepping motor (2.2.1), the stepping motor (2.2.1) is arranged at the upper end of the middle supporting plate (1.3), and the output end of the stepping motor (2.2.1) downwards penetrates through the middle supporting plate (1.3);
the first rotating shaft (2.2.2) is arranged below the middle supporting plate (1.3), and the upper end part of the first rotating shaft (2.2.2) is connected with the output end of the stepping motor (2.2.1) through a coupler;
a first gear (2.2.3), wherein the first gear (2.2.3) is sleeved at the lower end part of the first rotating shaft (2.2.2), and the first gear (2.2.3) is meshed with the straight gear (2.1);
the driven device (2.3) comprises:
the upper end part of the second rotating shaft (2.3.1) is connected with the middle supporting plate (1.3) through a first bearing;
a second gear (2.3.2), the second gear (2.3.2) is sleeved at the lower end part of the second rotating shaft (2.3.1), and the second gear (2.3.2) is meshed with the straight gear (2.1).
5. The meal delivery robot according to claim 3, wherein the steering mechanism (2) further comprises:
the bracket (2.4), the bracket (2.4) is arranged at the upper end of the straight gear (2.1) and is fixedly connected with the straight gear (2.1); the upper end of the bracket (2.4) upwards passes through the through hole in the middle of the bottom plate (1.4) and the through hole in the middle of the middle supporting plate (1.3) to the upper part of the middle supporting plate (1.3);
the lower end part of the third rotating shaft (2.5) is fixedly connected with the upper end part of the bracket (2.4), and the upper end part of the transmission shaft extends out of the middle cover (1.2) and is fixedly connected with the pick-and-place mechanism (4);
the bearing retainer cup (2.6), the bearing retainer cup (2.6) is arranged at the lower end of the middle cover (1.2), and the bearing retainer cup (2.6) is fixedly connected with the middle cover (1.2); and a second bearing is arranged in the bearing sleeve cup (2.6), and the second bearing is sleeved on the third rotating shaft (2.5).
6. The delivery robot according to claim 5, characterized in that the pick and place mechanism (4) comprises:
the supporting rod (4.1), the supporting rod (4.1) is horizontally arranged at the upper end of the third rotating shaft (2.5), and one end part of the supporting rod (4.1) is fixedly connected with the upper end part of the third rotating shaft (2.5);
the supporting seat (4.2), the supporting seat (4.2) is fixedly connected with the other end of the supporting rod (4.1);
the hydraulic cylinder (4.3), the hydraulic cylinder (4.3) is arranged on the supporting seat (4.2) and is fixedly connected with the supporting seat (4.2);
the shaft sleeve (4.4), the shaft sleeve (4.4) is arranged below the supporting seat (4.2), and an output shaft of the hydraulic cylinder (4.3) is vertically and downwards fixedly connected with the shaft sleeve (4.4);
the mechanical fingers (4.5) are arranged at the lower end of the supporting seat (4.2), and the plurality of mechanical fingers (4.5) surround the shaft sleeve (4.4); the upper end part of each mechanical finger (4.5) is hinged with the bottom of the supporting seat (4.2); the middle part of each mechanical finger (4.5) is connected with the shaft sleeve (4.4) through a connecting rod.
7. The food delivery robot according to claim 3, wherein the walking mechanism (3) comprises:
the driving wheel (3.1), the driving wheel (3.1) is arranged in a through hole arranged in the middle of the straight gear (2.1);
the two bearing seats (3.2) are respectively arranged at two ends of the driving wheel (3.1), and the two bearing seats (3.2) are fixedly connected with the upper end face of the straight gear (2.1); a third bearing is arranged in each bearing seat (3.2); a fourth rotating shaft (3.3) is connected in the middle of the driving wheel (3.1), and two ends of the fourth rotating shaft (3.3) are respectively connected with two third bearings;
the direct current motor (3.4), the said direct current motor (3.4) is put on the straight gear (2.1), and fixedly connect with upper end of the said straight gear (2.1); the direct current motor (3.4) is arranged on one side of the bearing seat (3.2), and an output shaft of the direct current motor (3.4) is connected with the fourth rotating shaft (3.3).
8. The meal delivery robot of claim 7, wherein: the travelling mechanism (3) further comprises a plurality of trundles (3.5), and the upper end part of each trundle (3.5) is connected with the bottom of the rack (1) through a telescopic rod; each telescopic rod is sleeved with a spring, and the upper end of each spring is connected with the bottom of the rack (1); the lower end of the spring is connected with a corresponding caster (3.5).
9. The meal delivery robot of claim 1, wherein: the guide module (5) is arranged at the upper end of the middle cover (1.2) and is fixedly connected with the middle cover (1.2); the guiding module (5) comprises:
the system comprises a laser radar unit (5.1), wherein the laser radar unit (5.1) scans a food delivery area to obtain scanning data, and area map data are constructed by using the scanning data; transmitting the regional map data to a processor (5.4);
the ultrasonic unit (5.2), the ultrasonic unit (5.2) measures the distance of the food delivery point in the food delivery area to obtain distance measurement data; transmitting the ranging data to a processor (5.4);
the probe unit (5.3), the probe unit (5.3) detects the obstacle in the food delivery area to obtain the obstacle data; transmitting the obstacle data to a processor (5.4);
the processor (5.4), the said processor (5.4) processes map data of the area, range finding data and obstacle data, carry on the route calculation, obtain the route data; transmitting the path data to a navigation unit (5.5);
the navigation unit (5.5) controls the output travelling mechanism (3) to move to a set position according to the path data, and the travelling mechanism (3) controls the steering mechanism (2) to drive the pick-and-place mechanism (4) to steer after moving in place; generating arrival data after the steering mechanism (2) is steered to the right position;
and the control unit (5.6) is used for acquiring the bit data and controlling the taking and placing mechanism (4) to take and place the dinner plate according to the in-place data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010336183.XA CN111515968A (en) | 2020-04-26 | 2020-04-26 | Food delivery robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010336183.XA CN111515968A (en) | 2020-04-26 | 2020-04-26 | Food delivery robot |
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| Publication Number | Publication Date |
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| CN111515968A true CN111515968A (en) | 2020-08-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010336183.XA Pending CN111515968A (en) | 2020-04-26 | 2020-04-26 | Food delivery robot |
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Application publication date: 20200811 |