CN106553197B - A kind of intelligence pouring robot device and its control system - Google Patents
A kind of intelligence pouring robot device and its control system Download PDFInfo
- Publication number
- CN106553197B CN106553197B CN201611024309.XA CN201611024309A CN106553197B CN 106553197 B CN106553197 B CN 106553197B CN 201611024309 A CN201611024309 A CN 201611024309A CN 106553197 B CN106553197 B CN 106553197B
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- China
- Prior art keywords
- pouring
- water
- shaft
- bottom plate
- driving
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Classifications
-
- 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
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 set to 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 tap by water pipe, and the tap lower section and water outlet are equipped with photoelectric sensor；Pouring mechanism lower end is connected with running mechanism.The advantage of the invention is that：Waiter is no longer needed when holding a meeting, robot can timely send water, ensure that the fluency and privacy of meeting, while reducing unnecessary labour, save the time, 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, the robot for pouring and sending water.
Background technique
Documents CN101898355A, which is disclosed, a kind of automatic to pour toward teacup 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 in pedestal
On, table is arranged on track lateral wall, and two flat coppers are spaced above and below in the groove for being embedded in track lateral wall, translucent cover
Side wall be equipped with multiple doorways, and sliding door is set at doorway, travel switch is arranged in the arranged on left and right sides on doorway, outside track
Side wall is equipped with the osculum that contact and travel switch can be made to stretch out, and the inside of track is equipped with track internal projection.It to be solved
The technical issues of be automatic in the case where not influencing meeting and carrying out pour toward teacup and send the device of water, saving human resources.
Existing related pour send water often using manually being operated, and function is not complete enough, lack of wisdom work idea；
Meanwhile manually poured and sent water in session during often will affect conference flow and time, using manually pouring
With send the mode of water to be also easy to appear the spillage and waste of water.
That there are mechanical structures is complex for the intelligent pouring device in part, it is difficult to the defects of being operated.
Therefore, we are it is necessary to improve such a structure, to overcome drawbacks described above.
Summary of the invention
It, can be quickly and accurately according to participant's the purpose of the present invention is replacing manual service with robot manipulation
Cup is sent, pour and send water in the function of one it is required that executing in time, the privacy and fluency of meeting is ensure that, greatly reduces
The waste of human resources, improves efficiency of service, thus a kind of intelligent pouring robot proposed.
The present invention is that technical solution used by solving its technical problem is：
A kind of intelligence pouring robot device, including pouring mechanism and walking mechanism,
The pouring mechanism is set to case top, and the pouring mechanism includes discharging device and rotating mechanism, the water outlet dress
It sets including a bucket, the bucket top is connected to water pump by water pipe, and water pump is connected to tap, the fire hose by water pipe
Head lower section and water outlet are equipped with photoelectric sensor；
The pouring mechanism is set to case top, and the pouring mechanism includes discharging device and rotating mechanism, the water outlet dress
It sets including a bucket, the bucket top is connected to water pump by water pipe, and water pump is connected to tap, the fire hose by water pipe
Head lower section and water outlet are equipped with photoelectric sensor；
The rotating mechanism includes a stepper motor, and stepper motor output shaft upper end is connected with shaft coupling, the shaft coupling
Upper end is connected with transmission shaft, and the transmission shaft is connected with disk, and support annulus is equipped between the disk and case top；
Pouring mechanism lower end is connected with walking mechanism；
The walking mechanism includes a bottom plate, is equipped with two DC brushless motors among the bottom plate above position, described
DC brushless motor is fixed on bottom plate upper end by motor cabinet, is fastened by bolts at two angles of floor rear there are two bearing
Seat, driving shaft are fixed between bearing block by bearing, and position is equipped with driving gear, DC brushless motor among the driving shaft
Output end is also connected with output gear, and for the driving gear with output gear by synchronous band connection, two driving shaft one end are equal
It is connected with driving wheel, is equipped with driven wheel on front side of the bottom plate lower end.
Pouring mechanism lower end is connected with walking mechanism；
The walking mechanism includes a bottom plate, is equipped with two DC brushless motors among the bottom plate above position, described
DC brushless motor is fixed on bottom plate upper end by motor cabinet, is fastened by bolts at two angles of floor rear there are two bearing
Seat, driving shaft are fixed between bearing block by bearing, and position is equipped with driving gear, DC brushless motor among the driving shaft
Output end is also connected with output gear, and for the driving gear with output gear by synchronous band connection, two driving shaft one end are equal
It is connected with driving wheel, is equipped with driven wheel on front side of the bottom plate lower end.
Further, it positions on the inside of driving wheel by the shaft shoulder, is fixed with driving shaft in relative position.
Further, position is equipped with circular orbit among the case top, and the support annulus includes circular plastic collar and tightly
Three trundles of circular plastic collar circumference are fixed in, three trundles move in a circle at circular orbit.
The advantage of the invention is that：
Waiter is no longer needed when holding a meeting, robot can timely send water, ensure that fluency and the private of meeting
Close property, while reducing unnecessary labour, the time is saved, efficiency is greatly improved.
1, it is based on wireless communication technique, automatically can be sent water to designated position according to the demand of participant.
2, robot, which integrates, send cup, water receiving, send water three kinds of functions
3, the control of detection and the water outlet of energy automatic control water glass.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of intelligent pouring robot device proposed by the present invention a kind of.
Fig. 2 is the oblique view of intelligent pouring robot device proposed by the present invention a kind of.
Fig. 3 is a kind of structural schematic diagram of intelligent pouring robot device's discharging device proposed by the present invention.
Fig. 4 is a kind of structural schematic diagram of intelligent pouring robot device's walking mechanism proposed by the present invention.
Fig. 5 is a kind of top view of intelligent pouring robot device's walking mechanism proposed by the present invention.
Fig. 6 is the structural schematic diagram 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's 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 schematic diagram of intelligent pouring robot control system proposed by the present invention.
Number and corresponding component title represented by letter in figure：
1, pouring mechanism 2, walking mechanism 3, case top 4, discharging device 5, rotating mechanism 21, bottom plate 22, brush DC
Motor 23, bearing block 24, driving shaft 25, bearing 26, driving gear 27, output gear 28, synchronous belt 29, driving wheel
210, driven wheel 41, bucket 42, water pump 43, water pipe 44, tap 45, photoelectric sensor 51, stepper motor 52, connection
Axis device 53, transmission shaft 54, disk 55, support annulus
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, tie below
Diagram and specific embodiment are closed, the present invention is further explained.
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 walking mechanism 2,
The pouring mechanism 1 is set to 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, pass through water pipe 43 at the top of the bucket 41 and are connected to water pump 42, water pump 42 is connected by water pipe 43
To tap 44,44 lower section of tap and water outlet are equipped with photoelectric sensor 45；
The rotating mechanism 5 includes a stepper motor 51, and 51 output shaft upper end of stepper motor is connected with shaft coupling 52, described
52 upper end of shaft coupling is connected with transmission shaft 53, and the transmission shaft 53 is connected with disk 54, is equipped between the disk 54 and case top 3
Support annulus 55；
1 lower end of pouring mechanism is connected with walking mechanism 2；
The walking mechanism 2 includes a bottom plate 21, is equipped with two DC brushless motors above the intermediate position of the bottom plate 21
22, the DC brushless motor 22 is fixed on 21 upper end of bottom plate by motor cabinet, and bottom plate passes through bolt at 21 two angles of rear side
There are two bearing block 23, driving shafts 24 to be fixed between bearing block 23 by bearing 25 for fastening, the intermediate position of the driving shaft 24
Equipped with driving gear 26, DC brushless motor output end is also connected with output gear 27, the driving gear 26 and output gear
27 are connected by synchronous belt 28, and two 224 one end of driving shaft are respectively connected with driving wheel 29, be equipped on front side of 21 lower end of bottom plate from
Driving wheel 210.
Further, it positions on the inside of driving wheel 29 by the shaft shoulder, is fixed with driving shaft 24 in relative position.
Further, position is equipped with circular orbit among the case top, and the support annulus includes circular plastic collar and tightly
Three trundles of circular plastic collar circumference are fixed in, three trundles move in a circle at circular orbit.Primarily serving will slide
Friction is converted to the effect of rolling friction, pads under disk, there is track on case top, and stable and supplementary disc rotation undertakes disk
On son and the weight of cup, trundle then reduce frictional resistance when disc rotary.
When mechanism executes order, remote controler gives singlechip controller one signal by wireless control command device, controls
Device gives step actuator one pulse by rotary disk control device, and step actuator control (stepper motor) rotates by a certain angle,
Stepper motor drives disc rotary certain angle, and cup is sent to water inlet.Light during pouring, below tap
When electric transducer has received cup, signal is passed into singlechip controller, singlechip controller controls pump switch device
Come the water outlet for controlling pump working to make bucket, the photoelectric sensor at faucet outlet senses the signal of cup full water
Afterwards, signal is equally fed back into singlechip controller, singlechip controller keeps disc rotary certain to rotary disk control device signal
Angle, after cup transfers water pump stop working bucket stop water outlet.
It is separately mounted to the photoelectric sensor below tap with the water outlet of tap, utilizes the light below tap
After electric transducer detects cup arrival target position, signal is transmitted to singlechip controller, singlechip controller control water pump is opened
Pass equally feeds back to signal to control water pump water outlet after the photoelectric sensor of water outlet detects the signal of cup full water
Singlechip controller, singlechip controller control rotary disk control device make disc rotary certain angle, and after cup transfers, water pump stops
It is only discharged, achievees the purpose that pouring.
Remote controler gives trolley one signal by wireless control command device, and trolley receives signal, singlechip controller
Control walking mechanism control device runs to designated position.(infrared detecting method：Singlechip controller passes through control detection of obstacles
Device, robot path detection device, traveling-position detection device have using infrared ray in the body surface of different colours
The characteristics of different reflectivity properties, constantly emit infrared light to the ground during the car driving, when infrared light encounters white
Diffusing reflection occurs when papery floor, reflected light is installed in the reception of the reception pipe on trolley；Infrared light is inhaled if encountering black line
It receives, the reception pipe on trolley does not receive infrared light.Whether single-chip microcontroller is with regard to receiving reflected infrared light as according to determining
The position of black line and the track route of trolley.) to reach the purpose for sending water.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, various changes and improvements may be made to the invention without departing from the spirit and scope of the present invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent defines.
Claims (5)
1. a kind of intelligence pouring robot device, including pouring mechanism and walking mechanism, it is characterised in that：
The pouring mechanism is set to case top, and the pouring mechanism includes discharging device and rotating mechanism, the discharging device packet
It includes a bucket, water pump is connected to by water pipe at the top of the bucket, water pump is connected to tap by water pipe, under the tap
Side and water outlet are equipped with photoelectric sensor；
The rotating mechanism includes a stepper motor, and stepper motor output shaft upper end is connected with shaft coupling, the shaft coupling upper end
It is connected with transmission shaft, the transmission shaft is connected with disk, and support annulus is equipped between the disk and case top；
Pouring mechanism lower end is connected with walking mechanism；
The walking mechanism includes a bottom plate, is equipped with two DC brushless motors, the direct current among the bottom plate above position
Brushless motor is fixed on bottom plate upper end by motor cabinet, is fastened by bolts at two angles of floor rear there are two bearing block,
Driving shaft is fixed between bearing block by bearing, and position is equipped with driving gear among the driving shaft, and DC brushless motor is defeated
Outlet is also connected with output gear, and with output gear by synchronous band connection, two driving shaft one end connect the driving gear
It is connected to driving wheel, is equipped with driven wheel on front side of the bottom plate lower end.
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 with driving shaft in relative position.
3. a kind of intelligent pouring robot device according to claim 1, it is characterised in that：Position is set among the case top
There is a circular orbit, the support annulus includes circular plastic collar and three trundles for being anchored on circular plastic collar circumference, three small
Idler wheel 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 intelligence pouring robot
It can be moved in a track upper end, track outer ring is provided with conference table, is equipped with several remote controlers above the conference table.
5. the control system of intelligent pouring robot device according to claim 1 a kind of, it is characterised in that：It is single including one
Piece machine controller, the pump switch device being connect with the singlechip controller, rotating mechanism, walking mechanism control device, barrier
Hinder analyte detection device, robot path detection device, traveling-position detection device, wireless control command device, be located at tap
The photoelectric sensor of lower section and photoelectric sensor positioned at water outlet.
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 CN106553197A (en) | 2017-04-05 |
| CN106553197B true 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) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| CN110977997B (en) * | 2019-11-21 | 2022-02-22 | 南京信息职业技术学院 | Service type water delivery robot |
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 |
| 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 |
-
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 |
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| CN106553197A (en) | 2017-04-05 |
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