CN106553197A - A kind of intelligent pouring robot device and its control system - Google Patents
A kind of intelligent pouring robot device and its control system Download PDFInfo
- Publication number
- CN106553197A CN106553197A CN201611024309.XA CN201611024309A CN106553197A CN 106553197 A CN106553197 A CN 106553197A CN 201611024309 A CN201611024309 A CN 201611024309A CN 106553197 A CN106553197 A CN 106553197A
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- China
- Prior art keywords
- pouring
- water
- intelligent
- shaft
- robot
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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
-
- 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
-
- 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
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Toys (AREA)
Abstract
The present invention proposes a kind of intelligent pouring robot device and its control system, including pouring mechanism and running mechanism, the pouring mechanism is arranged at case top, the pouring mechanism includes discharging device and rotating mechanism, the discharging device includes a bucket, water pump is connected to by water pipe at the top of the bucket, water pump is connected to faucet by water pipe, below the faucet, photoelectric sensor is equipped with water outlet；Pouring mechanism lower end is connected with running mechanism.It is an advantage of the current invention that：Service man, robot is no longer needed timely to send water when holding a meeting, it is ensured that the fluency and privacy of meeting, while unnecessary labour force is reduced, it is time-consuming, greatly improve efficiency.
Description
Technical field
The present invention relates to service robot field, specifically a kind of meeting occasion is sent automatically according to the demand of participant
Cup, pouring and send the robot of water.
Background technology
Documents CN101898355A disclose a kind of automatically past teacup pouring and send the device of water：It has table, machine
Device people, automatic door-opening mechanism, robot are arranged in orbit, and translucent cover is arranged on the inner side edge of table, and track is arranged on base
On, table is arranged on track lateral wall, and two upper and lower intervals of flat copper are embedded in the groove of track lateral wall, translucent cover
Side wall be provided with multiple doorways, and sliding door is set at doorway, the arranged on left and right sides on doorway arranges travel switch, outside track
Side wall is provided with the osculum that stretch out can contact and travel switch, and track internal projection is provided with the inside of track.Which will solve
Technical problem be automatically toward teacup pouring and to send the device of water in the case where not affecting meeting to carry out, save human resourcess.
Existing related pouring send water often using manually being operated, and function is not complete enough, lack of wisdom work idea；
Meanwhile, manually carry out pouring and conference flow and time are often affected during sending water in session, using manually carrying out pouring
With send the mode of water spilling and waste for water also easily occur.
It is complex to there is frame for movement in the intelligent pouring device in part, it is difficult to carry out the defect such as operating.
Therefore, we are necessary to improve such a structure, to overcome drawbacks described above.
The content of the invention
The purpose of the present invention is to replace manual service with robot manipulation, can quickly and accurately according to participant's
Require to perform in time and send cup, pouring and water is sent in the function of one, it is ensured that the privacy of meeting and fluency, greatly reduce
The waste of human resourcess, improves efficiency of service, so as to a kind of intelligent pouring robot for proposing.
The present invention for the solution technical scheme that adopts of its technical problem is：
A kind of intelligent pouring robot device, including pouring mechanism and running mechanism,
The pouring mechanism is arranged at case top, and the pouring mechanism includes discharging device and rotating mechanism, the water outlet dress
Put including a bucket, water pump is connected to by water pipe at the top of the bucket, water pump is connected to faucet, the fire hose by water pipe
Head lower section and water outlet are equipped with photoelectric sensor；
The pouring mechanism is arranged at case top, and the pouring mechanism includes discharging device and rotating mechanism, the water outlet dress
Put including a bucket, water pump is connected to by water pipe at the top of the bucket, water pump is connected to faucet, the fire hose by water pipe
Head lower section and water outlet are equipped with photoelectric sensor；
The rotating mechanism includes a motor, and stepper motor output shaft upper end is connected with shaft coupling, the shaft coupling
Upper end is connected with power transmission shaft, and the power transmission shaft is connected with disk, and support annulus is provided between the disk and case top；
Pouring mechanism lower end is connected with running mechanism；
The running mechanism includes a base plate, and two DC brushless motors are provided with above the base plate middle part, described
DC brushless motor is fixed on base plate upper end by motor cabinet, and floor rear has been fastened by bolts two bearings at two angles
Seat, driving shaft are fixed between bearing block by bearing, and the driving shaft middle part is provided with driving gear, DC brushless motor
Outfan is also connected with output gear, and the driving gear is connected by Timing Belt with output gear, and two driving shaft one end are equal
Driving wheel is connected with, on front side of the base plate lower end, driven pulley is provided with.
Pouring mechanism lower end is connected with running mechanism；
The running mechanism includes a base plate, and two DC brushless motors are provided with above the base plate middle part, described
DC brushless motor is fixed on base plate upper end by motor cabinet, and floor rear has been fastened by bolts two bearings at two angles
Seat, driving shaft are fixed between bearing block by bearing, and the driving shaft middle part is provided with driving gear, DC brushless motor
Outfan is also connected with output gear, and the driving gear is connected by Timing Belt with output gear, and two driving shaft one end are equal
Driving wheel is connected with, on front side of the base plate lower end, driven pulley is provided with.
Further, position by the shaft shoulder on the inside of driving wheel, fix in relative position with driving shaft.
Further, case top middle part is provided with circular orbit, and the support annulus includes circular plastic collar and tight
Three trundles of circular plastic collar circumference are fixed in, three trundles move in a circle at circular orbit.
It is an advantage of the current invention that：
Service man, robot is no longer needed timely to send water when holding a meeting, it is ensured that the fluency of meeting and private
Close property, while unnecessary labour force is reduced, it is time-consuming, greatly improve efficiency.
1st, based on wireless communication technique, water can be delivered to automatically by specified location according to the demand of participant.
2nd, robot integrates and send cup, water receiving, send water three kinds of functions
3rd, the detection and the control of water outlet of energy automatic control water glass.
Description of the drawings
Fig. 1 is a kind of structural representation of intelligent pouring robot device proposed by the present invention.
Fig. 2 is a kind of oblique view of intelligent pouring robot device proposed by the present invention.
Fig. 3 is a kind of structural representation of intelligent pouring robot device discharging device proposed by the present invention.
Fig. 4 is a kind of structural representation of intelligent pouring robot device running mechanism proposed by the present invention.
Fig. 5 is a kind of top view of intelligent pouring robot device running mechanism proposed by the present invention.
Fig. 6 is the structural representation that a kind of intelligent pouring robot device proposed by the present invention supports annulus.
Fig. 7 is a kind of intelligent pouring robot device general illustration proposed by the present invention.
Fig. 8 is a kind of intelligent pouring robot control system flow chart proposed by the present invention.
Fig. 9 is a kind of structural representation of intelligent pouring robot control system proposed by the present invention.
Numeral and the corresponding component title represented by letter in figure：
1st, pouring mechanism 2, running mechanism 3, case top 4, discharging device 5, rotating mechanism 21, base plate 22, direct current without
Brush motor 23, bearing block 24, driving shaft 25, bearing 26, driving gear 27, output gear 28, Timing Belt 29, driving
Wheel 210, driven pulley 41, bucket 42, water pump 43, water pipe 44, faucet 45, photoelectric sensor 51, motor 52,
Shaft coupling 53, power transmission shaft 54, disk 55, support annulus
Specific embodiment
In order that technological means, creation characteristic, reached purpose and effect that the present invention is realized are easy to understand, tie below
Diagram and specific embodiment are closed, the present invention is expanded on further.
As shown in figure 1, a kind of intelligent pouring robot device proposed by the present invention and its control system, including pouring mechanism
1 and running mechanism 2,
The pouring mechanism 1 is arranged at case top 3, and the pouring mechanism 1 includes discharging device 4 and rotating mechanism 5, it is described go out
Water installations 4 include a bucket 41, are connected to water pump 42 by water pipe 43 at the top of the bucket 41, and water pump 42 is connected by water pipe 43
To faucet 44, below the faucet 44, photoelectric sensor 45 is equipped with water outlet；
The rotating mechanism 5 includes a motor 51, and 51 output shaft upper end of motor is connected with shaft coupling 52, described
52 upper end of shaft coupling is connected with power transmission shaft 53, and the power transmission shaft 53 is connected with disk 54, is provided between the disk 54 and case top 3
Support annulus 55；
1 lower end of pouring mechanism is connected with running mechanism 2；
The running mechanism 2 includes a base plate 21, and two DC brushless motors are provided with above 21 middle part of the base plate
22, the DC brushless motor 22 is fixed on 21 upper end of base plate by motor cabinet, passes through bolt on rear side of base plate 21 at two angles
Two bearing blocks 23 are fastened with, driving shaft 24 is fixed between bearing block 23 by bearing 25,24 middle part of the driving shaft
Driving gear 26 is provided with, DC brushless motor outfan is also connected with output gear 27, the driving gear 26 and output gear
27 are connected by Timing Belt 28, and two 224 one end of driving shaft are respectively connected with driving wheel 29, be provided with front side of 21 lower end of the base plate from
Driving wheel 210.
Further, position by the shaft shoulder on the inside of driving wheel 29, fix in relative position with driving shaft 24.
Further, case top middle part is provided with circular orbit, and the support annulus includes circular plastic collar and tight
Three trundles of circular plastic collar circumference are fixed in, three trundles move in a circle at circular orbit.Primarily serve and will slide
Friction changes into the effect of rolling friction, pads under disk, and case has track on top, and the rotation of stable and supplementary disc undertakes disk
Weight on son with water tumbler, trundle then reduce frictional resistance when disc rotary.
When mechanism performs order, remote control gives singlechip controller one signal by controlled in wireless command device, control
Device gives step actuator one pulse by rotary disk control device, and step actuator control (motor) rotates to an angle,
Motor drives disc rotary certain angle, and cup is delivered to below water inlet.Light during pouring, below faucet
When electric transducer has received cup, by signal transmission to singlechip controller, singlechip controller control pump switch device
The water outlet of bucket is made to control pump working, the photoelectric sensor at faucet outlet senses the signal of water tumbler full water
Afterwards, signal is fed back to into singlechip controller equally, singlechip controller makes disc rotary certain to rotary disk control device signal
Angle, after cup is transferred water pump quit work bucket stop water outlet.
Photoelectric sensor with the water outlet of faucet is separately mounted to below faucet, using the light below faucet
After electric transducer detection water tumbler reaches target location, signal is passed to into singlechip controller, singlechip controller control water pump is opened
Close to control water pump water outlet, after the photoelectric sensor of water outlet detects the signal of water tumbler full water, equally signal is fed back to
Singlechip controller, singlechip controller control rotary disk control device make disc rotary certain angle, and after water tumbler is transferred, water pump stops
Only water outlet, reaches the purpose of pouring.
Remote control gives dolly one signal by controlled in wireless command device, and dolly receives signal, singlechip controller
Control running mechanism control device runs to specified location.(infrared detecting method：Singlechip controller is by controlling detection of obstacles
Device, robot path detection means, traveling-position detection means, the i.e. body surface using infrared ray in different colours have
The characteristics of different reflectivity properties, constantly earthward launch infrared light during dolly traveling, when infrared light runs into white
There is diffuse-reflectance during papery floor, reflected light is installed in the reception pipe on dolly and receives；If black line is run into, infrared light is inhaled
Receive, the reception pipe on dolly does not receive infrared light.Single-chip microcomputer is according to determining with regard to whether receiving the infrared light for reflecting
The position of black line and the track route of dolly.) so as to reaching the purpose for sending water.
Ultimate principle, principal character and the advantages of the present invention of the present invention has been shown and described above.The technology of the industry
Personnel it should be appreciated that the present invention is not restricted to the described embodiments, the simply explanation described in above-described embodiment and description this
The principle of invention, of the invention without departing from the spirit and scope of the present invention also to have various changes and modifications, these changes
Change and improvement is both fallen within scope of the claimed invention.The claimed scope of the invention by appending claims and its
Equivalent is defined.
Claims (5)
1. a kind of intelligent pouring robot device, including pouring mechanism and running mechanism, it is characterised in that：
The pouring mechanism is arranged at case top, and the pouring mechanism includes discharging device and rotating mechanism, the discharging device bag
A bucket is included, water pump is connected to by water pipe at the top of the bucket, water pump is connected to faucet by water pipe, under the faucet
Side and water outlet are equipped with photoelectric sensor；
The rotating mechanism includes a motor, and stepper motor output shaft upper end is connected with shaft coupling, the shaft coupling upper end
Power transmission shaft is connected with, the power transmission shaft is connected with disk, and support annulus is provided between the disk and case top；
Pouring mechanism lower end is connected with running mechanism；
The running mechanism includes a base plate, and two DC brushless motors, the direct current are provided with above the base plate middle part
Brushless electric machine is fixed on base plate upper end by motor cabinet, and floor rear has been fastened by bolts two bearing blocks at two angles,
Driving shaft is fixed between bearing block by bearing, and the driving shaft middle part is provided with driving gear, and DC brushless motor is defeated
Go out end and be also connected with output gear, the driving gear is connected by Timing Belt with output gear, and two driving shaft one end connect
Driving wheel is connected to, on front side of the base plate lower end, driven pulley is provided with.
2. a kind of intelligent pouring robot device according to claim 1, it is characterised in that：It is fixed by the shaft shoulder on the inside of driving wheel
Position, is fixed in relative position with driving shaft.
3. a kind of intelligent pouring robot device according to claim 1, it is characterised in that：Case top middle part sets
There is circular orbit, the support annulus includes circular plastic collar and is anchored on three trundles of circular plastic collar circumference, and three little
Roller moves in a circle at circular orbit.
4. a kind of intelligent pouring robot device according to claim 1, it is characterised in that：The intelligent pouring robot
Can move in a track upper end, track outer ring is provided with conference table, and some remote controls are provided with above the conference table.
5. a kind of intelligent pouring robot control system according to claim 1, it is characterised in that：Including a single-chip microcomputer control
Device processed, the pump switch device being connected with the singlechip controller, rotary disk control device, running mechanism control device, obstacle
Analyte detection device, robot path detection means, traveling-position detection means, controlled in wireless command device and photoelectric sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611024309.XA CN106553197B (en) | 2016-11-17 | 2016-11-17 | A kind of intelligence pouring robot device and its control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611024309.XA CN106553197B (en) | 2016-11-17 | 2016-11-17 | A kind of intelligence pouring robot device and its control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106553197A true CN106553197A (en) | 2017-04-05 |
| CN106553197B CN106553197B (en) | 2018-11-20 |
Family
ID=58443422
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611024309.XA Expired - Fee Related CN106553197B (en) | 2016-11-17 | 2016-11-17 | A kind of intelligence pouring robot device and its control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106553197B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107981724A (en) * | 2017-12-08 | 2018-05-04 | 上海电机学院 | A kind of intelligence takes a glass pouring device |
| CN108670033A (en) * | 2018-05-16 | 2018-10-19 | 合肥亿福自动化科技有限公司 | A kind of collaborative robot coffee making apparatus |
| CN109889580A (en) * | 2019-01-25 | 2019-06-14 | 金文亚 | A kind of orbit movable Intelligent life method of servicing and its system based on cloud computing |
| CN110666812A (en) * | 2019-10-18 | 2020-01-10 | 徐州木牛流马机器人科技有限公司 | Tea pouring robot |
| WO2020049065A1 (en) * | 2018-09-07 | 2020-03-12 | Starship Technologies Oü | System and method for beverage dispensing |
| DE102018216247A1 (en) * | 2018-09-24 | 2020-03-26 | BSH Hausgeräte GmbH | Hydration aid |
| CN110977997A (en) * | 2019-11-21 | 2020-04-10 | 南京信息职业技术学院 | Service type water delivery robot |
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| EP1946684A1 (en) * | 2007-01-19 | 2008-07-23 | Nestec S.A. | Autonomous food and beverage distribution machine |
| CN101898355A (en) * | 2010-07-05 | 2010-12-01 | 柴兆杰 | Device capable of automatically pouring water into tea cup and carrying water |
| CN102968120A (en) * | 2012-11-23 | 2013-03-13 | 上海电机学院 | Automatic water feeding system |
| CN202981599U (en) * | 2012-11-06 | 2013-06-12 | 王春峰 | Cabinet type tea table |
| CN203226649U (en) * | 2013-05-09 | 2013-10-09 | 赵开才 | Intelligent water dispenser for self-help water feeding of conference table |
| TW201540240A (en) * | 2014-04-28 | 2015-11-01 | Zeng You Sheng | Beverage making robot system |
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2016
- 2016-11-17 CN CN201611024309.XA patent/CN106553197B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1946684A1 (en) * | 2007-01-19 | 2008-07-23 | Nestec S.A. | Autonomous food and beverage distribution machine |
| CN101898355A (en) * | 2010-07-05 | 2010-12-01 | 柴兆杰 | Device capable of automatically pouring water into tea cup and carrying water |
| CN202981599U (en) * | 2012-11-06 | 2013-06-12 | 王春峰 | Cabinet type tea table |
| CN102968120A (en) * | 2012-11-23 | 2013-03-13 | 上海电机学院 | Automatic water feeding system |
| CN203226649U (en) * | 2013-05-09 | 2013-10-09 | 赵开才 | Intelligent water dispenser for self-help water feeding of conference table |
| TW201540240A (en) * | 2014-04-28 | 2015-11-01 | Zeng You Sheng | Beverage making robot system |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107981724A (en) * | 2017-12-08 | 2018-05-04 | 上海电机学院 | A kind of intelligence takes a glass pouring device |
| CN107981724B (en) * | 2017-12-08 | 2019-10-11 | 上海电机学院 | A kind of intelligence takes a glass pouring device |
| CN108670033A (en) * | 2018-05-16 | 2018-10-19 | 合肥亿福自动化科技有限公司 | A kind of collaborative robot coffee making apparatus |
| WO2020049065A1 (en) * | 2018-09-07 | 2020-03-12 | Starship Technologies Oü | System and method for beverage dispensing |
| DE102018216247A1 (en) * | 2018-09-24 | 2020-03-26 | BSH Hausgeräte GmbH | Hydration aid |
| CN109889580A (en) * | 2019-01-25 | 2019-06-14 | 金文亚 | A kind of orbit movable Intelligent life method of servicing and its system based on cloud computing |
| CN109889580B (en) * | 2019-01-25 | 2021-11-26 | 北京无限自在文化传媒股份有限公司 | Rail-moving type intelligent life service method and system based on cloud computing |
| CN110666812A (en) * | 2019-10-18 | 2020-01-10 | 徐州木牛流马机器人科技有限公司 | Tea pouring robot |
| CN110977997A (en) * | 2019-11-21 | 2020-04-10 | 南京信息职业技术学院 | Service type water delivery robot |
| CN110977997B (en) * | 2019-11-21 | 2022-02-22 | 南京信息职业技术学院 | Service type water delivery robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106553197B (en) | 2018-11-20 |
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