CN105415377A - Humanoid rail-free automatic meal supply robot - Google Patents
Humanoid rail-free automatic meal supply robot Download PDFInfo
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- CN105415377A CN105415377A CN201510882975.6A CN201510882975A CN105415377A CN 105415377 A CN105415377 A CN 105415377A CN 201510882975 A CN201510882975 A CN 201510882975A CN 105415377 A CN105415377 A CN 105415377A
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Abstract
The invention discloses a humanoid rail-free automatic meal supply robot. A power base comprises a third-layer supporting board, a second-layer supporting board and a chassis. Servo motors are arranged on the chassis. A drive wheel is arranged on one side of each servo motor. Servo drivers are arranged on the second-layer supporting board. An obstacle avoiding sensor is arranged in the chassis. The power base is further provided with a fuse and a master control board. The fuse is connected with a relay. The relay is further connected with an air switch. Arms are arranged on the two sides of a shell body of the robot. Trays are arranged on the arms. A power switch, an emergency stop switch, a photoelectric sensor and a touch screen are arranged at the back portion of the shell body of the robot. A sensor is arranged at the upper portion of the shell body of the robot. By the adoption of the humanoid rail-free automatic meal supply robot, the robot can walk normally without bonding a magnetic strip or a light sensing rubber strip to the floor, attractiveness is not affected, maintenance is basically not needed, use is convenient, the application range is wide, and practicality is high.
Description
Technical field
The present invention relates to intelligent robot, be specifically related to the automatic meal delivery robot of a kind of humanoid trackless.
Background technology
Along with the quickening of modern industrialization process, people increase material and cultural needs in life, and robot has also entered among the life of people gradually.Mostly present catering industry is to carry out work and food delivery with manpower, flow of the people is large, working strength is high, to spirit and muscle power a kind of acid test beyond doubt of work personnel, therefore in order to intelligent robot is selected by a lot of enterprise that solves the problem, meal delivery robot pathfinding line mode is in the market all generally along magnetic stripe or the walking of light sensation adhesive tape, but the magnetic stripe adopted can be raised in ground, and floor, dining room needs often to wash away, this can make magnetic stripe be out of shape and demagnetization, and the magnetic life-span of magnetic stripe itself is also limited; If adopt light sensation adhesive tape, light sensation adhesive tape is easily damaged, and requires very high to floor color.Above two kinds of modes are all too high to the environmental requirement in dining room, and stability is restricted, and it is attractive in appearance to affect dining room, and the scope of application has significant limitation.
Summary of the invention
In order to solve the problem, the invention provides the automatic meal delivery robot of a kind of humanoid trackless, without the need to stickup magnetic strip or light sensation adhesive tape on floor, also can reach the function that robot normally walks, not affect the appearance, substantially not need to safeguard, easy to use, applied widely, practical.
To achieve these goals, the technical solution used in the present invention is: the automatic meal delivery robot of a kind of humanoid trackless, described robot comprises power base and robot shells main body, described power base comprises three layers of gripper shoe, two layers of gripper shoe and chassis, described three layers of gripper shoe, two layers of gripper shoe and chassis set gradually from top to bottom, described chassis is provided with servomotor, the side of servomotor is provided with driving wheel, two layers of gripper shoe are provided with servo-driver, be provided with in described chassis and keep away barrier sensor, described power base is also provided with insurance and master board, insurance connects relay, relay is connected with air switch further, described robot shells main body both sides are provided with arm, pallet is arranged on arm, described robot shells main body back is provided with power switch, emergency stop switch, photoelectric sensor and touch-screen, robot shells body top is provided with sensor.
Preferably, described two layers are provided with two layers of pillar between gripper shoe and chassis.
Above-mentioned either a program preferably, is provided with three layers of pillar between described two layers of gripper shoe and three layers of gripper shoe.
Above-mentioned either a program preferably, is provided with damping spring between described servomotor and two layers of gripper shoe.
Preferably, described servomotor top is provided with electric machine support to above-mentioned either a program.
Preferably, described electric machine support bottom is connected with bracing strut to above-mentioned either a program.
Preferably, the sensor that described robot shells body top is provided with is STARGAZER sensor to above-mentioned either a program.
Preferably, the quantity of institute's driving wheel is two to above-mentioned either a program, and two driving wheels are symmetricly set in both sides, chassis.
The invention has the beneficial effects as follows: power base comprises three layers of gripper shoe, two layers of gripper shoe and chassis, described three layers of gripper shoe, two layers of gripper shoe and chassis set gradually from top to bottom, described chassis is provided with servomotor, the side of servomotor is provided with driving wheel, two layers of gripper shoe are provided with servo-driver, be provided with in described chassis and keep away barrier sensor, described power base is also provided with insurance and master board, insurance connects relay, relay is connected with air switch further, described robot shells main body both sides are provided with arm, pallet is arranged on arm, described robot shells main body back is provided with power switch, emergency stop switch, photoelectric sensor and touch-screen, robot shells body top is provided with sensor, there is provided a kind of humanoid trackless automatic meal delivery robot, without the need to stickup magnetic strip or light sensation adhesive tape on floor, also the function that robot normally walks can be reached, do not affect the appearance, substantially do not need to safeguard, easy to use, applied widely, practical.
Accompanying drawing explanation
Fig. 1 is partial structurtes schematic diagram of the present invention.
Fig. 2 is partial structurtes schematic diagram of the present invention.
Fig. 3 is partial structurtes schematic diagram of the present invention.
Fig. 4 is overall structure schematic diagram of the present invention.
Fig. 5 is the rearview of Fig. 4.
In figure: 1, chassis, 2, two layers of gripper shoe, 3, three layers of gripper shoe, 4, servomotor, 5, servo-driver, 6, driving wheel, 7, electric machine support, 8, damping spring, 9, bracing strut, 10, two layers of pillar, 11, three layers of pillar, 12, keep away barrier sensor, 13, insure, 14, relay, 15, air switch, 16, master board, 17, master board, 18, pallet, 19, power switch, 20, emergency stop switch, 21, touch-screen, 22, photoelectric sensor.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
As Figure 1-5, the automatic meal delivery robot of a kind of humanoid trackless, described robot comprises power base and robot shells main body, described power base comprises three layers of gripper shoe 3, two layers of gripper shoe 2 and chassis 1, described three layers of gripper shoe 3, two layers of gripper shoe 2 and chassis 1 set gradually from top to bottom, described chassis 1 is provided with servomotor 4, the side of servomotor 4 is provided with driving wheel 6, two layers of gripper shoe 2 are provided with servo-driver 5, be provided with in described chassis 1 and keep away barrier sensor 12, described power base is also provided with insurance 13 and master board 16, insurance 13 connects relay 14, relay 14 is connected with air switch 15 further, described robot shells main body both sides are provided with arm, pallet 18 is arranged on arm, described robot shells main body back is provided with power switch 19, emergency stop switch 20, photoelectric sensor 22 and touch-screen 21, robot shells body top is provided with sensor 17.
The technical scheme that the present invention optimizes further, is provided with two layers of pillar 10 between described two layers of gripper shoe 2 and chassis 1.
The technical scheme that the present invention optimizes further, is provided with three layers of pillar 11 between described two layers of gripper shoe 2 and three layers of gripper shoe 3.
The technical scheme that the present invention optimizes further, is provided with damping spring 8 between described servomotor 4 and two layers of gripper shoe 2.
The technical scheme that the present invention optimizes further, described servomotor 4 top is provided with electric machine support 7.
The technical scheme that the present invention optimizes further, described electric machine support 7 bottom is connected with bracing strut 9.
When the present invention specifically uses, vegetable is placed on pallet 18 by staff, then select on touch-screen 21 for sending seat number, robot is under the acting in conjunction of servo-drive system and STARGAZER sensor 17, along projected route, vegetable is delivered to table, after putting in place, robot voice message guest can send on table number and menu name, and vegetable takes out by guest, after touching or shading light electric transducer 22, robot voice and guest can say goodbye and turn back to initial position according to projected route.The present invention adopts a vision sensor-stargazer, the relative position of robot in space, dining room can be determined according to the information labels be arranged on furred ceiling by this sensor, with it for auxiliary positioning, in conjunction with robot servo's system chassis 1, robot location can be judged accurately, highly stable walking states can be reached, thus break away from the trouble being laid on by auxiliary material and floor is brought, the present invention is low to dining room environmental requirement, do not affect the attractive in appearance and stable performance in dining room, safeguard simple (substantially not needing to safeguard).
Embodiment 1.1
With above-described embodiment unlike, the quantity of driving wheel 6 is two, and two driving wheels 6 are symmetricly set in both sides, chassis 1.
Embodiment 2.1
With embodiment 1.1 unlike, sensor that described robot shells body top is provided with 17 is STARGAZER sensor.
More than show and describe general principle of the present invention and principal character and advantage of the present invention.The technical staff of the industry should understand; the present invention is not restricted to the described embodiments; what describe in above-described embodiment and description just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.Application claims protection domain is defined by appending claims and equivalent thereof.
Claims (8)
1. the automatic meal delivery robot of humanoid trackless, it is characterized in that, described robot comprises power base and robot shells main body, described power base comprises three layers of gripper shoe (3), two layers of gripper shoe (2) and chassis (1), described three layers of gripper shoe (3), two layers of gripper shoe (2) and chassis (1) set gradually from top to bottom, described chassis (1) is provided with servomotor (4), the side of servomotor (4) is provided with driving wheel (6), two layers of gripper shoe (2) are provided with servo-driver (5), be provided with in described chassis (1) and keep away barrier sensor (12), described power base is also provided with insurance (13) and master board (16), insurance (13) connects relay (14), relay (14) is connected with air switch (15) further, described robot shells main body both sides are provided with arm, pallet (18) is arranged on arm, described robot shells main body back is provided with power switch (19), emergency stop switch (20), photoelectric sensor (22) and touch-screen (21), robot shells body top is provided with sensor (17).
2. the automatic meal delivery robot of a kind of humanoid trackless according to claim 1, is characterized in that, is provided with two layers of pillar (10) between described two layers of gripper shoe (2) and chassis (1).
3. the automatic meal delivery robot of a kind of humanoid trackless according to claim 1 and 2, is characterized in that, is provided with three layers of pillar (11) between described two layers of gripper shoe (2) and three layers of gripper shoe (3).
4. the automatic meal delivery robot of a kind of humanoid trackless according to claim 1, is characterized in that, is provided with damping spring (8) between described servomotor (4) and two layers of gripper shoe (2).
5. the automatic meal delivery robot of a kind of humanoid trackless according to claim 1 or 4, it is characterized in that, described servomotor (4) top is provided with electric machine support (7).
6. the automatic meal delivery robot of a kind of humanoid trackless according to claim 5, is characterized in that, described electric machine support (7) bottom is connected with bracing strut (9).
7. the automatic meal delivery robot of a kind of humanoid trackless according to claim 1, is characterized in that, described robot shells body top is provided with sensor (17), and sensor (17) is STARGAZER sensor.
8. the automatic meal delivery robot of a kind of humanoid trackless according to claim 1, is characterized in that, the quantity of institute's driving wheel (6) is two, and two driving wheels (6) are symmetricly set in chassis (1) both sides.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510882975.6A CN105415377A (en) | 2015-12-03 | 2015-12-03 | Humanoid rail-free automatic meal supply robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510882975.6A CN105415377A (en) | 2015-12-03 | 2015-12-03 | Humanoid rail-free automatic meal supply robot |
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| CN105415377A true CN105415377A (en) | 2016-03-23 |
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| CN201510882975.6A Pending CN105415377A (en) | 2015-12-03 | 2015-12-03 | Humanoid rail-free automatic meal supply robot |
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| CN106054896A (en) * | 2016-07-13 | 2016-10-26 | 武汉大学 | Intelligent navigation robot dolly system |
| CN106313078A (en) * | 2016-10-27 | 2017-01-11 | 上海思岚科技有限公司 | Mobile robot platform |
| CN106737543A (en) * | 2016-11-23 | 2017-05-31 | 河池学院 | Multifunctional self-service robot of supermarket |
| DE202017103847U1 (en) | 2017-06-28 | 2017-07-21 | Airbus Operations Gmbh | System for guiding a robot through a passenger aircraft cabin |
| CN107041634A (en) * | 2017-03-01 | 2017-08-15 | 上海师范大学 | Intelligent four-wheel drive serving trolley |
| CN107671865A (en) * | 2017-09-15 | 2018-02-09 | 上海有个机器人有限公司 | A kind of service robot |
| CN107752731A (en) * | 2017-12-11 | 2018-03-06 | 马建山 | A kind of Automatic Cooking Robot for conveniently washing pot |
| CN107969877A (en) * | 2017-12-11 | 2018-05-01 | 马建山 | The automatic meal delivery robot in dining room |
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| CN102699895A (en) * | 2012-06-04 | 2012-10-03 | 山东大陆科技有限公司 | Meal delivering robot and meal delivering method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106054896A (en) * | 2016-07-13 | 2016-10-26 | 武汉大学 | Intelligent navigation robot dolly system |
| CN106313078A (en) * | 2016-10-27 | 2017-01-11 | 上海思岚科技有限公司 | Mobile robot platform |
| CN106737543A (en) * | 2016-11-23 | 2017-05-31 | 河池学院 | Multifunctional self-service robot of supermarket |
| CN107041634A (en) * | 2017-03-01 | 2017-08-15 | 上海师范大学 | Intelligent four-wheel drive serving trolley |
| DE202017103847U1 (en) | 2017-06-28 | 2017-07-21 | Airbus Operations Gmbh | System for guiding a robot through a passenger aircraft cabin |
| US10775807B2 (en) | 2017-06-28 | 2020-09-15 | Airbus Operations Gmbh | System for guidance of a robot through a passenger cabin of an aircraft |
| CN107671865A (en) * | 2017-09-15 | 2018-02-09 | 上海有个机器人有限公司 | A kind of service robot |
| CN107752731A (en) * | 2017-12-11 | 2018-03-06 | 马建山 | A kind of Automatic Cooking Robot for conveniently washing pot |
| CN107969877A (en) * | 2017-12-11 | 2018-05-01 | 马建山 | The automatic meal delivery robot in dining room |
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| CB02 | Change of applicant information |
Address after: 215300 Suzhou province high tech Zone, Kunshan City, Feng Yuan Road, No. 232, robot Industrial Park Applicant after: Suzhou pangolin robot Limited by Share Ltd Address before: 215300 Suzhou province high tech Zone, Kunshan City, Feng Yuan Road, No. 232, robot Industrial Park Applicant before: KUNSHAN PANGOLIN ROBOTER CO., LTD. |
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| RJ01 | Rejection of invention patent application after publication | ||
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Application publication date: 20160323 |