CN106003098A - Intelligent meal delivering robot and operation method thereof - Google Patents
Intelligent meal delivering robot and operation method thereof Download PDFInfo
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- CN106003098A CN106003098A CN201610630664.5A CN201610630664A CN106003098A CN 106003098 A CN106003098 A CN 106003098A CN 201610630664 A CN201610630664 A CN 201610630664A CN 106003098 A CN106003098 A CN 106003098A
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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
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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Abstract
The invention relates to a meal delivering robot, and particularly relates to a meal delivering robot and an operation method thereof. The meal delivering robot comprises a chassis component, a bracket component, a head nodding component, a meal dish component and a controller, wherein the controller controls the chassis component, the head nodding component and the meal dish component; the bracket component is arranged at the upper part of the chassis component; the head nodding component is arranged at the upper part of the bracket component; the meal dish component is arranged on an external wall of the bracket component. The intelligent meal delivering robot and the operation method thereof are compact in structure, and have advantages that the structure is compact, a size is small, a weight is light, the reliability is high, an appearance is attractive, a manufacturing cost is low, and the assembly, the disassembly and the maintenance are convenient.
Description
Technical field
The present invention relates to a kind of meal delivery robot, particularly relate to a kind of meal delivery robot and operational approach thereof.
Background technology
Robot in existing technology, serviceability is relatively poor, and motility is the best, relatively cumbersome.
Along with social progress, the raising of quality of life, accelerating aged tendency of population degree, labor cost is big
Big raising, some work is heavy dangerous again, and in order to seek a breach, people have invented robot, and 1970
After Nian, there is a lot of small scale robot, occurred in that again intelligent robot, food delivery machine recent years
People, but how it is to walk magnetic stripe, track mode, is difficult to run in the case of limited space, and food delivery amount is little,
There is no usability.
Chinese patent 201520444637.X, discloses a kind of meal delivery robot, and it includes robot body,
The eyes of described robot body head and face are equipped with LED lamp bead, and described robot head is built-in with language
Sound Interface, described robot body both hands are flexibly connected pallet and described pallet is provided with automatic induction apparatus,
Described robot body chest is provided with photoelectric sensor, induction apparatus, ultrasonic sensor, wireless device, electricity
Source dispensing controller and system controller, be provided with chassis, be provided with in described chassis bottom described robot body
Driving means.Intelligent with motility Shortcomings.
Summary of the invention
The present invention mainly solves the deficiencies in the prior art, it is provided that a kind of compact conformation, operating characteristics
Remarkably, multiple functional, a kind of Intelligent meal delivery robot that emulator is high and operational approach thereof.
The above-mentioned technical problem of the present invention is mainly addressed by following technical proposals:
A kind of Intelligent meal delivery robot, nods assembly, service plate group including chassis assembly, carriage assembly, head
Part and controller, described controller controls chassis assembly, head nods assembly and service plate component, described
The top of chassis assembly is provided with carriage assembly, and the top of described carriage assembly is provided with head and nods assembly, institute
The outer wall of the carriage assembly stated is provided with service plate component；
Described chassis assembly includes that chassis, described chassis are provided with the wheel hub motor of half built-in；
Described carriage assembly includes that lower carriage and upper bracket, the top of described lower carriage are provided with upper bracket,
Described lower carriage is located at the top on chassis, is provided with the lithium battery of drive hub motor in described lower carriage；
Described lower carriage is provided with bucket, described upper bracket is provided with fat；
Described head is nodded the location-plate that assembly includes being located at above upper bracket, the top of described location-plate
Being provided with steering wheel fixture, be provided with steering wheel of nodding in described steering wheel fixture, described steering wheel of nodding is provided with
Head connector, is provided with steering wheel, described rudder of nodding between one end of described steering wheel of nodding and head connector
Machine controls head connector；
Described service plate component includes that frame of eating, the inner on described meal frame top are respectively equipped with out wine tap and go out
Faucet, the described wine tap that goes out is connected with fat, and described depotition cock is connected with bucket, described
If meal frame in be provided with dried layer service plate；
Being cased with ambetti steel outside described robot, described meal frame fixes with ambetti steel, described
Location-plate fix with ambetti steel.
As preferably, being provided with the heater being connected with bucket in described ambetti steel, described adds
Being provided with bucket heating power supply mouth in thermal, the top of described bucket is provided with exhaust apparatus, described lower
Being provided with the water level display being connected with bucket in frame, the upper end of described bucket is provided with water temperature display；
The bottom of described meal frame is provided with sliding bar, and the bottom of described sliding bar is provided with movable pulley, described
The support bar of inclined distribution it is provided with between bottom the lower end of sliding bar and meal frame.
As preferably, the bottom on described chassis is provided with two wheel hub motors being distributed separately, the described end
The bottom of dish is provided with some universal wheels, described lithium battery be arranged over cell cover plate, described battery
Positioned by cell cover plate support between upper cover plate and chassis, described lithium battery by L-type fixture with
Chassis is fixed, and the bottom of described bucket is located at the top of cell cover plate.
As preferably, the back of robot is provided with knapsack, and described controller is located in knapsack, described point
Being provided with bearing between the other end of head steering wheel and head connector, described bearing is fixed by bearing retainer.
The operational approach of a kind of Intelligent meal delivery robot, sequentially includes the following steps:
(1), internal structure design:
The wheel hub motor tested is fixed on the aluminium chassis processed with CNC with aluminum workpiece, left and right
Each one, four symmetrical uniform surroundings being arranged on chassis of universal wheel, it is ensured that be in same with direct current generator wheel
On one horizontal plane；
In centre position, chassis, with 6 equally distributed metal " L " type fixtures, lithium battery level is solid
It is scheduled on chassis, with two bands, lithium battery centre position is fixed on chassis, prevents battery from teetertottering；
Above chassis, place a cell cover plate, use 4 metal works to be connected with chassis screw,
Cell cover plate is placed the rustless steel bucket that an outside is wrapped up by thermal insulation cotton, bucket all-metal
Lower carriage is fixed on cell cover plate；Cylindrical rustless steel fat is placed in the fixed bit above upper bracket
Put, note wine outlet distance bucket 100mm height；The copper plug of bucket makes a hole, then puts
Putting a water level display, its one end is placed in bucket, and other end hose is drawn in plug hole；
(2), external structure design:
The apery class skirt type lower half health shell of one round table-like glass steel material of square set on chassis, in lower half
Health shell dead astern borer reserves a water level display, filler pipe and the eyelet of water temperature display and groove
Mouthful, then water level display, filler pipe and water temperature display are positioned in preformed hole position, the lower part of the body is complete
Portion's circuit is drawn from reserved circular hole from lower half health shell extraction suitable for reading, watery wine bucket all import and export hoses,
One steering wheel stainless " L " type location-plate is fixed on apery class food delivery by the way of screw connects
On hypocrateriform glass steel material upper half health shell, notice that steering wheel and body shell cervical region reserve 80-100mm distance；
All circuits of the lower part of the body are passed from upper half health shell back part preformed hole position and is fully incorporated controller
In, place the controller in a both shoulders bag and carry on the back on robot both shoulders, steering wheel is loaded onto corresponding axle
Hold, aluminum annulus and steering wheel, on steering wheel, then load onto the panel beating aluminum component of correspondence, above it with two
The interior hexagonal cylindrical head screw of 5mm fixes an apery class carbohydrate gum material intelligence number of people, then gives upper lower body shell
Brush is painted, and dries in draughty room, after waiting paint to do, places 5 on horizontal arm
Layer Multifunctional service plate, top service plate is screwed with both hands arm and is connected, and installing one 6 cun below service plate can
The wheel of dismounting, it is connected with lower half health shell screw, is left and right symmetrically arranged one on ground floor service plate
" u "-shaped outlet pipe, a light button is installed on each water pipe side, it is ensured that with drinks time in the case of energising
Button has electricity, left side wine, the right water, has the space of a removable rear cover, the inside at 5 layers of service plate rear portion
Middle part place loudspeaker, left and right places out the water pump of wine and water outlet, symmetrical below service plate third layer
Installing 3 infrared probes, an infrared probe is respectively installed in left and right, prevents robot from running into barrier and occurs
Collision, notices that its circuit is guided to robot back electronic box inside service plate, it is simple to line management, robot
Front is screwed a flat board protection set, loads onto flat board, connects tone frequency channel wire；Robot head is carried out
Make up, headwear is installed.
(3), parts are installed:
1, chassis is installed: the universal wheel of 4 two cun is symmetrically mounted on chassis, then with aluminum motor even
Fitting loads onto two wheel hub motors in the left and right sides, chassis, with 6 battery connecting pieces, battery is fixed on chassis
Centre, a flat support the most installed above；
2, bucket is installed: is placed horizontally at by heat insulating bucket on cell cover plate, fills a water level in bucket
It is suitable for reading that display plug is sealed in bucket；
3, support is installed: support level is arranged on above chassis, notes position, 4 holes and the circular base of support
Position, 4 holes alignment of dish steel ring；
4, fat is installed: fat dress being vertically to support suitable for reading, wine outlet is upward.Fat lower nozzle away from
From bucket top 10～20cm；
5, lower part of the body support is installed: be positioned over above chassis by lower part of the body support level, the circle being fixed on chassis
On shape steel ring, the rubber tube picked out by drinks bucket is drawn from the round mouth in lower half health shell front；
6, upper body support is installed: upper half health shell and lower half health shell are connected with 3 screws in waist,
Note robot both hands horizontally toward dead ahead；
7, cervical region is installed: by 30KG steering wheel fixture, one 30KG steering wheel is connected to upper body support
Neck location；
8, head is installed: connect with 3 soket head cap screws with head connector on cervical region 30KG steering wheel
Bionical head is installed, head fills infrared transmission and receives device；
9, service plate is installed: on the both hands of upper body support five layers of service plate of horizontal positioned, is connecting with hand
Position tapping screw is fixed, and service plate bottom fills the movable pulley of 6 cun, and movable pulley is enclosed within orlop service plate
On the sliding bar of lower section, then movable pulley support bar is fixed on the lower part of the body support formation stable triangular and props up
Support, on ground floor service plate, left side level is loaded onto one and is gone out wine device, and the right fills a discharging device, and two
Device space 10cm；Filling an infrared probe about third layer service plate, front fills three infrared probes,
All fix with primary screw；
10, line box is installed: use knapsack cartridge controller, is positioned over upper body support back, the dress food delivery of front, front
Flat board, is fixed on front with two screws；
(4), test is installed:
1, chassis test: connected with the mains and signal by the wheel on chassis, connects electronic box and the indigo plant of test flat board
Tooth, makes flat board enter test software, carries out the test of left and right directions repeating motion before and after wheel；
2, steering wheel test: each steering wheel in robot is linked on panel by control line, in computer end
Upper computer software under carry out steering wheel angle adjustment test；
3, infrared test: connected with the mains by infrared probe and signal, probe is carried out away from information in computer end
Number strong and weak test；After being powered up, the infrared inductor on head sends flicker HONGGUANG, illustrates that signal is just
Often；
4, flat board test: flat board is connected audio frequency control line, connects the WiFi in flat board is arranged, open indigo plant
Tooth, enters operation software, connecting line box and the bluetooth of flat board, by the dialogue of tone testing robot and dynamic
Make group；
5, parallel water pump；By effluent water pump with go out drinks pump and connect 12V power supply respectively, by changing voltage
Intensity and the sense of current, thus test the ability of the turnover drinks of water pump；
(5), operation processes:
1, power-on operation: opening unique green main power switch on line box, now electric-quantity display device gives a green light,
Open food delivery flat board, in flat board is arranged, connect WiFi, connect the bluetooth of robot；" you is said facing to flat board
Good ", robot can say that " you are good for honored guest, and I is that robot is joyous, and please to meet you, and what may I ask
Can be helped you？”；Then walking close to service plate, after infrared probe has detected people, robot can point out " to not
Rising, bother you to step aside, I to go over, thank you！" illustrate that infrared probe is normal；Infrared on head
Induction installation flicker HONGGUANG, illustrates to start shooting successfully；
2, food delivery operation: after power-on operation, open food delivery software on flat board, order dishes in interface, point
After complete vegetable and dining table number to be gone and private room number, such as 211 private rooms, robot can hold the vegetable that you want,
Robot begins to motion, the advance steadily of the pattern on induction installation meeting real time scan ceiling on head,
Arriving 211 private room doorways by your route, turning of stopping, towards the guest in private room, says " the meal that you select
Dish is delivered to, and close you use slowly！" after first-class dish, say facing to robot and thanks, robot can answer " no
With thanking, it is desirable to you have dinner happiness！" intelligence advances smoothly and be then back to starting point；
3, voice operating: after power-on operation, on flat board food delivery interface, some editor's voice, just energy and machine
Device people's Intelligent dialogue, robot also can feed back the expression action that face is abundant.Such as ask that " you are What for
's？" answer: " and I is that the order dishes robot of food delivery is joyous, and I can order, and food delivery adds water, with wine,
Want to have a try？”；But you say and " add a glass bar to me！", she can answer, and " good, service plate is upper left
Bian Shui, the right wine, would you please the hands that makes a motion！", then you press the just energy wine of the blue buttons on the right of service plate
Injecting your cup from going out wine end, you say that " I has been drunk！" he answer " doorway have generation drive, do not drive,
Driving does not drinks, and I worries your health very much！”；You say and " thanks！" she can answer, and " you are welcome, wishes you
Dining happiness！”；When you are in the presence of his road, he has infrared induction to stop, and she can magnify and " bother
You step aside, and I to go over！" you say that " I does not allows！" she can walk around your advance from clever；
4, remote manipulation: after power-on operation, can with the walking of the button manipulations robot on remote controller and
Facial expression；
5, power-off operation: close flat board, unique green main power switch on closed line box；
6, charging operations: in the power-offstate, charge port plugs charger, and when red charges, and green light is filled
Full, then power-off.
Possess: voice dialogue, infrared induction, wireless remote control, indoor positioning, independent navigation, automatically with wine
Water.
Therefore, a kind of Intelligent meal delivery robot of the present invention and operational approach thereof, compact conformation, there is structure
Compact, volume is little, lightweight, reliability is high, good looking appearance, cheap for manufacturing cost, easy for assembly, disassembly and maintenance.
Accompanying drawing explanation
Fig. 1 is the perspective view of the present invention；
Fig. 2 is the structural representation of the present invention；
Fig. 3 is the side-looking structural representation of the present invention.
Detailed description of the invention
Below by embodiment, and combine accompanying drawing, technical scheme is described in further detail.
Embodiment 1: as shown in Figure 1, Figure 2 and Figure 3, a kind of Intelligent meal delivery robot, including chassis group
Part, carriage assembly, head are nodded assembly, service plate component and controller 1, and described controller 1 controls the end
Dish assembly, head are nodded assembly and service plate component, and the top of described chassis assembly is provided with carriage assembly, institute
The top of the carriage assembly stated is provided with head and nods assembly, and the outer wall of described carriage assembly is provided with service plate group
Part；
Described chassis assembly includes that chassis 2, described chassis 2 are provided with the wheel hub motor 3 of half built-in；
Described carriage assembly includes that lower carriage 4 and upper bracket 5, the top of described lower carriage 4 are provided with
Support 5, described lower carriage 4 is located at the top on chassis 2, is provided with drive hub in described lower carriage 4
The lithium battery 6 of motor 3；Being provided with bucket 7 in described lower carriage 4, described upper bracket 5 is provided with in you
Fat 8；
Described head is nodded the location-plate 9 that assembly includes being located at above upper bracket 5, described location-plate 9
Top be provided with steering wheel fixture 10, described steering wheel fixture 10 is provided with steering wheel 11 of nodding, described
Steering wheel 11 of nodding is provided with head connector 12, one end of described steering wheel 11 of nodding and head connector
Being provided with steering wheel 13 between 12, described steering wheel 11 of nodding controls head connector 12；
Described service plate component includes that frame 14 of eating, the inner on described meal frame 14 top are respectively equipped with out wine dragon
15 and depotition cock 16, the described wine tap 15 that goes out is connected with fat 8, described depotition cock
16 are connected with bucket 7, if being provided with dried layer service plate 17 in described meal frame 14；
Being cased with ambetti steel 18 outside described robot, described meal frame 14 fixes with ambetti steel,
Described location-plate 9 fixes with ambetti steel 18.
Being provided with the heater 19 being connected with bucket 7 in described ambetti 18, described adds hot charging
Putting and be provided with bucket heating power supply mouth 20 in 19, the top of described bucket 7 is provided with exhaust apparatus 21, described
Lower carriage 4 in be provided with the water level display 22 being connected with bucket 7, the upper end of described bucket 7 sets
There is water temperature display 33；
The bottom of described meal frame 14 is provided with sliding bar 23, and the bottom of described sliding bar 23 is provided with slip
The support bar 25 of inclined distribution it is provided with between bottom wheel 24, the lower end of described sliding bar 23 and meal frame 14.
The bottom on described chassis 2 is provided with two wheel hub motors being distributed separately 3, described chassis 2
Bottom is provided with some universal wheels 26, described lithium battery 6 be arranged over cell cover plate 27, described
Positioned by cell cover plate support 28 between cell cover plate 27 and chassis 2, described lithium battery 6
Being fixed with chassis 2 by L-type fixture 29, the bottom of described bucket 7 is located at cell cover plate 27
Top.
The back of robot is provided with knapsack 30, and described controller 1 is located in knapsack 30, and described nods
Being provided with bearing 31 between the other end of steering wheel 11 and head connector 12, described bearing 31 is solid by bearing
Locking member 32 is fixed.
The operational approach of a kind of Intelligent meal delivery robot, sequentially includes the following steps:
(1), internal structure design:
The wheel hub motor tested is fixed on the aluminium chassis processed with CNC with aluminum workpiece, left and right
Each one, four symmetrical uniform surroundings being arranged on chassis of universal wheel, it is ensured that be in same with direct current generator wheel
On one horizontal plane；
In centre position, chassis, with 6 equally distributed metal " L " type fixtures, lithium battery level is solid
It is scheduled on chassis, with two bands, lithium battery centre position is fixed on chassis, prevents battery from teetertottering；
Above chassis, place a cell cover plate, use 4 metal works to be connected with chassis screw,
Cell cover plate is placed the rustless steel bucket that an outside is wrapped up by thermal insulation cotton, bucket all-metal
Lower carriage is fixed on cell cover plate；Cylindrical rustless steel fat is placed in the fixed bit above upper bracket
Put, note wine outlet distance bucket 100mm height；The copper plug of bucket makes a hole, then puts
Putting a water level display, its one end is placed in bucket, and other end hose is drawn in plug hole；
(2), external structure design:
The apery class skirt type lower half health shell of one round table-like glass steel material of square set on chassis, in lower half
Health shell dead astern borer reserves a water level display, filler pipe and the eyelet of water temperature display and groove
Mouthful, then water level display, filler pipe and water temperature display are positioned in preformed hole position, the lower part of the body is complete
Portion's circuit is drawn from reserved circular hole from lower half health shell extraction suitable for reading, watery wine bucket all import and export hoses,
One steering wheel stainless " L " type location-plate is fixed on apery class food delivery by the way of screw connects
On hypocrateriform glass steel material upper half health shell, notice that steering wheel and body shell cervical region reserve 80-100mm distance；
All circuits of the lower part of the body are passed from upper half health shell back part preformed hole position and is fully incorporated controller
In, place the controller in a both shoulders bag and carry on the back on robot both shoulders, steering wheel is loaded onto corresponding axle
Hold, aluminum annulus and steering wheel, on steering wheel, then load onto the panel beating aluminum component of correspondence, above it with two
The interior hexagonal cylindrical head screw of 5mm fixes an apery class carbohydrate gum material intelligence number of people, then gives upper lower body shell
Brush is painted, and dries in draughty room, after waiting paint to do, places 5 on horizontal arm
Layer Multifunctional service plate, top service plate is screwed with both hands arm and is connected, and installing one 6 cun below service plate can
The wheel of dismounting, it is connected with lower half health shell screw, is left and right symmetrically arranged one on ground floor service plate
" u "-shaped outlet pipe, a light button is installed on each water pipe side, it is ensured that with drinks time in the case of energising
Button has electricity, left side wine, the right water, has the space of a removable rear cover, the inside at 5 layers of service plate rear portion
Middle part place loudspeaker, left and right places out the water pump of wine and water outlet, symmetrical below service plate third layer
Installing 3 infrared probes, an infrared probe is respectively installed in left and right, prevents robot from running into barrier and occurs
Collision, notices that its circuit is guided to robot back electronic box inside service plate, it is simple to line management, robot
Front is screwed a flat board protection set, loads onto flat board, connects tone frequency channel wire；Robot head is carried out
Make up, headwear is installed.
(3), parts are installed:
1, chassis is installed: the universal wheel of 4 two cun is symmetrically mounted on chassis, then with aluminum motor even
Fitting loads onto two wheel hub motors in the left and right sides, chassis, with 6 battery connecting pieces, battery is fixed on chassis
Centre, a flat support the most installed above；
2, bucket is installed: is placed horizontally at by heat insulating bucket on cell cover plate, fills a water level in bucket
It is suitable for reading that display plug is sealed in bucket；
3, support is installed: support level is arranged on above chassis, notes position, 4 holes and the circular base of support
Position, 4 holes alignment of dish steel ring；
4, fat is installed: fat dress being vertically to support suitable for reading, wine outlet is upward.Fat lower nozzle away from
From bucket top 10～20cm；
5, lower part of the body support is installed: be positioned over above chassis by lower part of the body support level, the circle being fixed on chassis
On shape steel ring, the rubber tube picked out by drinks bucket is drawn from the round mouth in lower half health shell front；
6, upper body support is installed: upper half health shell and lower half health shell are connected with 3 screws in waist,
Note robot both hands horizontally toward dead ahead；
7, cervical region is installed: by 30KG steering wheel fixture, one 30KG steering wheel is connected to upper body support
Neck location；
8, head is installed: connect with 3 soket head cap screws with head connector on cervical region 30KG steering wheel
Bionical head is installed, head fills infrared transmission and receives device；
9, service plate is installed: on the both hands of upper body support five layers of service plate of horizontal positioned, is connecting with hand
Position tapping screw is fixed, and service plate bottom fills the movable pulley of 6 cun, and movable pulley is enclosed within orlop service plate
On the sliding bar of lower section, then movable pulley support bar is fixed on the lower part of the body support formation stable triangular and props up
Support, on ground floor service plate, left side level is loaded onto one and is gone out wine device, and the right fills a discharging device, and two
Device space 10cm；Filling an infrared probe about third layer service plate, front fills three infrared probes,
All fix with primary screw；
10, line box is installed: use knapsack cartridge controller, is positioned over upper body support back, the dress food delivery of front, front
Flat board, is fixed on front with two screws；
(4), test is installed:
1, chassis test: connected with the mains and signal by the wheel on chassis, connects electronic box and the indigo plant of test flat board
Tooth, makes flat board enter test software, carries out the test of left and right directions repeating motion before and after wheel；
2, steering wheel test: each steering wheel in robot is linked on panel by control line, in computer end
Upper computer software under carry out steering wheel angle adjustment test；
3, infrared test: connected with the mains by infrared probe and signal, probe is carried out away from information in computer end
Number strong and weak test；After being powered up, the infrared inductor on head sends flicker HONGGUANG, illustrates that signal is just
Often；
4, flat board test: flat board is connected audio frequency control line, connects the WiFi in flat board is arranged, open indigo plant
Tooth, enters operation software, connecting line box and the bluetooth of flat board, by the dialogue of tone testing robot and dynamic
Make group；
5, parallel water pump；By effluent water pump with go out drinks pump and connect 12V power supply respectively, by changing voltage
Intensity and the sense of current, thus test the ability of the turnover drinks of water pump；
(5), operation processes:
1, power-on operation: opening unique green main power switch on line box, now electric-quantity display device gives a green light,
Open food delivery flat board, in flat board is arranged, connect WiFi, connect the bluetooth of robot；" you is said facing to flat board
Good ", robot can say that " you are good for honored guest, and I is that robot is joyous, and please to meet you, and what may I ask
Can be helped you？”；Then walking close to service plate, after infrared probe has detected people, robot can point out " to not
Rising, bother you to step aside, I to go over, thank you！" illustrate that infrared probe is normal；Infrared on head
Induction installation flicker HONGGUANG, illustrates to start shooting successfully；
2, food delivery operation: after power-on operation, open food delivery software on flat board, order dishes in interface, point
After complete vegetable and dining table number to be gone and private room number, such as 211 private rooms, robot can hold the vegetable that you want,
Robot begins to motion, the advance steadily of the pattern on induction installation meeting real time scan ceiling on head,
Arriving 211 private room doorways by your route, turning of stopping, towards the guest in private room, says " the meal that you select
Dish is delivered to, and close you use slowly！" after first-class dish, say facing to robot and thanks, robot can answer " no
With thanking, it is desirable to you have dinner happiness！" intelligence advances smoothly and be then back to starting point；
3, voice operating: after power-on operation, on flat board food delivery interface, some editor's voice, just energy and machine
Device people's Intelligent dialogue, robot also can feed back the expression action that face is abundant.Such as ask that " you are What for
's？" answer: " and I is that the order dishes robot of food delivery is joyous, and I can order, and food delivery adds water, with wine,
Want to have a try？”；But you say and " add a glass bar to me！", she can answer, and " good, service plate is upper left
Bian Shui, the right wine, would you please the hands that makes a motion！", then you press the just energy wine of the blue buttons on the right of service plate
Injecting your cup from going out wine end, you say that " I has been drunk！" he answer " doorway have generation drive, do not drive,
Driving does not drinks, and I worries your health very much！”；You say and " thanks！" she can answer, and " you are welcome, wishes you
Dining happiness！”；When you are in the presence of his road, he has infrared induction to stop, and she can magnify and " bother
You step aside, and I to go over！" you say that " I does not allows！" she can walk around your advance from clever；
4, remote manipulation: after power-on operation, can with the walking of the button manipulations robot on remote controller and
Facial expression；
5, power-off operation: close flat board, unique green main power switch on closed line box；
6, charging operations: in the power-offstate, charge port plugs charger, when red charging, green light
It is full of, then power-off.
Claims (5)
1. an Intelligent meal delivery robot, it is characterised in that: include chassis assembly, carriage assembly, head
Nodding assembly, service plate component and controller (1), described controller (1) controls chassis assembly, head
Nodding assembly and service plate component, the top of described chassis assembly is provided with carriage assembly, described carriage assembly
Top be provided with head and nod assembly, the outer wall of described carriage assembly is provided with service plate component；
Described chassis assembly includes that chassis (2), described chassis (2) are provided with the wheel hub electricity of half built-in
Machine (3)；
Described carriage assembly includes lower carriage (4) and upper bracket (5), described lower carriage (4) upper
Portion is provided with upper bracket (5), and described lower carriage (4) is located at the top of chassis (2), described lower carriage
(4) lithium battery (6) of drive hub motor (3) it is provided with in；Described lower carriage (4) is provided with water
Bucket (7), is provided with fat (8) in described upper bracket (5)；
Described head assembly of nodding includes being located at the location-plate (9) of upper bracket (5) top, and described determines
The top of position plate (9) is provided with steering wheel fixture (10), is provided with and nods in described steering wheel fixture (10)
Steering wheel (11), described steering wheel of nodding (11) is provided with head connector (12), described steering wheel of nodding
(11) it is provided with steering wheel (13), described steering wheel of nodding (11) between one end and head connector (12)
Control head connector (12)；
Described service plate component includes frame (14) of eating, and the inner on described meal frame (14) top is respectively equipped with
Going out wine tap (15) and depotition cock (16), described wine tap (15) that goes out is connected with fat (8),
Described depotition cock (16) is connected with bucket (7), described meal frame (14) if in be provided with dried layer
Service plate (17)；
Ambetti steel (18), described meal frame (14) and ambetti steel it is cased with outside described robot
Fixing, described location-plate (9) fixes with ambetti steel (18).
A kind of Intelligent meal delivery robot the most according to claim 1, it is characterised in that: described dress
Decorations glass (18) are provided with the heater (19) being connected with bucket (7), described heater (19)
In be provided with bucket heating power supply mouth (20), the top of described bucket (7) is provided with exhaust apparatus (21),
Described lower carriage (4) is provided with the water level display (22) being connected with bucket (7), described water
The upper end of bucket (7) is provided with water temperature display (33)；
The bottom of described meal frame (14) is provided with sliding bar (23), the bottom of described sliding bar (23)
It is provided with movable pulley (24), is provided with in inclining between the lower end of described sliding bar (23) and meal frame (14) bottom
The tiltedly support bar (25) of distribution.
A kind of Intelligent meal delivery robot the most according to claim 1 and 2, it is characterised in that: described
The bottom on chassis (2) be provided with two wheel hub motors being distributed separately (3), described chassis (2)
Bottom be provided with some universal wheels (26), described lithium battery (6) be arranged over cell cover plate (27),
Positioned by cell cover plate support (28) between described cell cover plate (27) and chassis (2),
Described lithium battery (6) is fixed with chassis (2) by L-type fixture (29), described bucket (7)
Bottom be located at the top of cell cover plate (27).
A kind of Intelligent meal delivery robot the most according to claim 1 and 2, it is characterised in that: machine
The back of people is provided with knapsack (30), and described controller (1) is located in knapsack (30), and described nods
Bearing (31), described bearing (31) it is provided with between the other end of steering wheel (11) and head connector (12)
Fixed by bearing retainer (32).
5. an operational approach for Intelligent meal delivery robot according to claim 1 and 2, its feature
It is to sequentially include the following steps:
(1), internal structure design:
The wheel hub motor tested is fixed on the aluminium chassis processed with CNC with aluminum workpiece, left and right
Each one, four symmetrical uniform surroundings being arranged on chassis of universal wheel, it is ensured that be in same with direct current generator wheel
On one horizontal plane；
In centre position, chassis, with 6 equally distributed metal " L " type fixtures, lithium battery level is solid
It is scheduled on chassis, with two bands, lithium battery centre position is fixed on chassis, prevents battery from teetertottering；
Above chassis, place a cell cover plate, use 4 metal works to be connected with chassis screw,
Cell cover plate is placed the rustless steel bucket that an outside is wrapped up by thermal insulation cotton, bucket all-metal
Lower carriage is fixed on cell cover plate；Cylindrical rustless steel fat is placed in the fixed bit above upper bracket
Put, note wine outlet distance bucket 100mm height；The copper plug of bucket makes a hole, then puts
Putting a water level display, its one end is placed in bucket, and other end hose is drawn in plug hole；
(2), external structure design:
The apery class skirt type lower half health shell of one round table-like glass steel material of square set on chassis, in lower half
Health shell dead astern borer reserves a water level display, filler pipe and the eyelet of water temperature display and groove
Mouthful, then water level display, filler pipe and water temperature display are positioned in preformed hole position, the lower part of the body is complete
Portion's circuit is drawn from reserved circular hole from lower half health shell extraction suitable for reading, watery wine bucket all import and export hoses,
One steering wheel stainless " L " type location-plate is fixed on apery class food delivery by the way of screw connects
On hypocrateriform glass steel material upper half health shell, notice that steering wheel and body shell cervical region reserve 80-100mm distance；
All circuits of the lower part of the body are passed from upper half health shell back part preformed hole position and is fully incorporated controller
In, place the controller in a both shoulders bag and carry on the back on robot both shoulders, steering wheel is loaded onto corresponding axle
Hold, aluminum annulus and steering wheel, on steering wheel, then load onto the panel beating aluminum component of correspondence, above it with two
The interior hexagonal cylindrical head screw of 5mm fixes an apery class carbohydrate gum material intelligence number of people, then gives upper lower body shell
Brush is painted, and dries in draughty room, after waiting paint to do, places 5 on horizontal arm
Layer Multifunctional service plate, top service plate is screwed with both hands arm and is connected, and installing one 6 cun below service plate can
The wheel of dismounting, it is connected with lower half health shell screw, is left and right symmetrically arranged one on ground floor service plate
" u "-shaped outlet pipe, a light button is installed on each water pipe side, it is ensured that with drinks time in the case of energising
Button has electricity, left side wine, the right water, has the space of a removable rear cover, the inside at 5 layers of service plate rear portion
Middle part place loudspeaker, left and right places out the water pump of wine and water outlet, symmetrical below service plate third layer
Installing 3 infrared probes, an infrared probe is respectively installed in left and right, prevents robot from running into barrier and occurs
Collision, notices that its circuit is guided to robot back electronic box inside service plate, it is simple to line management, robot
Front is screwed a flat board protection set, loads onto flat board, connects tone frequency channel wire；Robot head is carried out
Make up, headwear is installed.
(3), parts are installed:
1, chassis is installed: the universal wheel of 4 two cun is symmetrically mounted on chassis, then with aluminum motor even
Fitting loads onto two wheel hub motors in the left and right sides, chassis, with 6 battery connecting pieces, battery is fixed on chassis
Centre, a flat support the most installed above；
2, bucket is installed: is placed horizontally at by heat insulating bucket on cell cover plate, fills a water level in bucket
It is suitable for reading that display plug is sealed in bucket；
3, support is installed: support level is arranged on above chassis, notes position, 4 holes and the circular base of support
Position, 4 holes alignment of dish steel ring；
4, fat is installed: fat dress being vertically to support suitable for reading, wine outlet is upward.Fat lower nozzle away from
From bucket top 10～20cm；
5, lower part of the body support is installed: be positioned over above chassis by lower part of the body support level, the circle being fixed on chassis
On shape steel ring, the rubber tube picked out by drinks bucket is drawn from the round mouth in lower half health shell front；
6, upper body support is installed: upper half health shell and lower half health shell are connected with 3 screws in waist,
Note robot both hands horizontally toward dead ahead；
7, cervical region is installed: by 30KG steering wheel fixture, one 30KG steering wheel is connected to upper body support
Neck location；
8, head is installed: connect with 3 soket head cap screws with head connector on cervical region 30KG steering wheel
Bionical head is installed, head fills infrared transmission and receives device；
9, service plate is installed: on the both hands of upper body support five layers of service plate of horizontal positioned, is connecting with hand
Position tapping screw is fixed, and service plate bottom fills the movable pulley of 6 cun, and movable pulley is enclosed within orlop service plate
On the sliding bar of lower section, then movable pulley support bar is fixed on the lower part of the body support formation stable triangular and props up
Support, on ground floor service plate, left side level is loaded onto one and is gone out wine device, and the right fills a discharging device, and two
Device space 10cm；Filling an infrared probe about third layer service plate, front fills three infrared probes,
All fix with primary screw；
10, line box is installed: use knapsack cartridge controller, is positioned over upper body support back, the dress food delivery of front, front
Flat board, is fixed on front with two screws；
(4), test is installed:
1, chassis test: connected with the mains and signal by the wheel on chassis, connects electronic box and the indigo plant of test flat board
Tooth, makes flat board enter test software, carries out the test of left and right directions repeating motion before and after wheel；
2, steering wheel test: each steering wheel in robot is linked on panel by control line, in computer end
Upper computer software under carry out steering wheel angle adjustment test；
3, infrared test: connected with the mains by infrared probe and signal, probe is carried out away from information in computer end
Number strong and weak test；After being powered up, the infrared inductor on head sends flicker HONGGUANG, illustrates that signal is just
Often；
4, flat board test: flat board is connected audio frequency control line, connects the WiFi in flat board is arranged, open indigo plant
Tooth, enters operation software, connecting line box and the bluetooth of flat board, by the dialogue of tone testing robot and dynamic
Make group；
5, parallel water pump；By effluent water pump with go out drinks pump and connect 12V power supply respectively, by changing voltage
Intensity and the sense of current, thus test the ability of the turnover drinks of water pump；
(5), operation processes:
1, power-on operation: opening unique green main power switch on line box, now electric-quantity display device gives a green light,
Open food delivery flat board, in flat board is arranged, connect WiFi, connect the bluetooth of robot；" you is said facing to flat board
Good ", robot can say that " you are good for honored guest, and I is that robot is joyous, and please to meet you, and what may I ask
Can be helped you？”；Then walking close to service plate, after infrared probe has detected people, robot can point out " to not
Rising, bother you to step aside, I to go over, thank you！" illustrate that infrared probe is normal；Infrared on head
Induction installation flicker HONGGUANG, illustrates to start shooting successfully；
2, food delivery operation: after power-on operation, open food delivery software on flat board, order dishes in interface, point
After complete vegetable and dining table number to be gone and private room number, such as 211 private rooms, robot can hold the vegetable that you want,
Robot begins to motion, the advance steadily of the pattern on induction installation meeting real time scan ceiling on head,
Arriving 211 private room doorways by your route, turning of stopping, towards the guest in private room, says " the meal that you select
Dish is delivered to, and close you use slowly！" after first-class dish, say facing to robot and thanks, robot can answer " no
With thanking, it is desirable to you have dinner happiness！" intelligence advances smoothly and be then back to starting point；
3, voice operating: after power-on operation, on flat board food delivery interface, some editor's voice, just energy and machine
Device people's Intelligent dialogue, robot also can feed back the expression action that face is abundant.Such as ask that " you are What for
's？" answer: " and I is that the order dishes robot of food delivery is joyous, and I can order, and food delivery adds water, with wine,
Want to have a try？”；But you say and " add a glass bar to me！", she can answer, and " good, service plate is upper left
Bian Shui, the right wine, would you please the hands that makes a motion！", then you press the just energy wine of the blue buttons on the right of service plate
Injecting your cup from going out wine end, you say that " I has been drunk！" he answer " doorway have generation drive, do not drive,
Driving does not drinks, and I worries your health very much！”；You say and " thanks！" she can answer, and " you are welcome, wishes you
Dining happiness！”；When you are in the presence of his road, he has infrared induction to stop, and she can magnify and " bother
You step aside, and I to go over！" you say that " I does not allows！" she can walk around your advance from clever；
4, remote manipulation: after power-on operation, can with the walking of the button manipulations robot on remote controller and
Facial expression；
5, power-off operation: close flat board, unique green main power switch on closed line box；
6, charging operations: in the power-offstate, charge port plugs charger, and when red charges, and green light is filled
Full, then power-off.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610630664.5A CN106003098A (en) | 2016-08-03 | 2016-08-03 | Intelligent meal delivering robot and operation method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610630664.5A CN106003098A (en) | 2016-08-03 | 2016-08-03 | Intelligent meal delivering robot and operation method thereof |
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| CN106426286A (en) * | 2016-10-25 | 2017-02-22 | 桐乡市石门永新玻璃钢制品有限公司 | Robot shell |
| CN106625695A (en) * | 2016-10-20 | 2017-05-10 | 哈工大机器人集团上海有限公司 | Meal delivering robot and meal delivering method thereof |
| CN107263486A (en) * | 2017-08-15 | 2017-10-20 | 深圳诺欧博智能科技有限公司 | A kind of robot overturning-preventing method, device and overturning-preventing robot |
| WO2018148883A1 (en) * | 2017-02-15 | 2018-08-23 | 深圳市前海中康汇融信息技术有限公司 | Visual meal ordering robot and operation method therefor |
| CN109773742A (en) * | 2019-03-21 | 2019-05-21 | 创泽智能机器人股份有限公司 | A kind of service robot with motion control device |
| CN110253594A (en) * | 2019-06-12 | 2019-09-20 | 北京鲲鹏神通科技有限公司 | A kind of kitchen machine people |
| CN110539311A (en) * | 2019-08-28 | 2019-12-06 | 南京驭逡通信科技有限公司 | Meal delivery robot convenient to move and moving method |
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Application publication date: 20161012 |