CN106826848B - Robot dish delivery system - Google Patents
Robot dish delivery system Download PDFInfo
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- CN106826848B CN106826848B CN201710034325.5A CN201710034325A CN106826848B CN 106826848 B CN106826848 B CN 106826848B CN 201710034325 A CN201710034325 A CN 201710034325A CN 106826848 B CN106826848 B CN 106826848B
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- tray
- robot
- customer
- dish
- safety door
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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
Abstract
The invention provides a robot dish transferring system, which comprises: a robot including a robot body, and a hand device connected to the robot body through a flange member; the robot comprises a moving track, a robot main body and a control unit, wherein the moving track is paved on the ground, and the robot main body is fixed on the moving track; at least one customer safety door disposed adjacent one side of the travel rail, including a first protective member and a first drive; wherein, one side of each customer safety door far away from the moving track is correspondingly provided with a dining card seat; the customer dish taking window corresponds to the dining card seat, the customer dish taking window is located above the customer safety door, and a first tray accommodating part is arranged on the customer dish taking window close to the moving track. According to the invention, through space division, the customers and the robot work areas are mutually independent, so that the dish transferring work of a attendant can be replaced, the labor cost of catering enterprises is saved, the operation efficiency is high, and meanwhile, the dining safety of the customers is protected to the greatest extent.
Description
Technical Field
The invention relates to the field of intelligent control, in particular to a robot dish conveying system.
Background
At present, the competition in the catering industry is more and more vigorous, how catering enterprises attract the sources of customers, how to impress consumers, and meanwhile, the control and saving of labor cost become an important means for improving the competitiveness of the catering enterprises.
The robot dish transfer system integrates performance and dish transfer functions, can perform dancing performance along with music, is helpful for customers, and can automatically transfer dishes made by chefs in a kitchen to the sides of the customers. For example, the trackless dish transfer robot is currently and conventionally selected, so that the working intensity of workers can be reduced to a certain extent. However, because of the large flow of people in the working environment, the system occupies the same space and the same place as the consumers, and has complicated relationship with the consumers. Therefore, the speed is low, the efficiency is low, the entertainment performance cannot be performed, the safety coefficient is low, and personal injury is easily caused. Once a system failure or a program becomes problematic, a security incident is likely to occur.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, an object of the present invention is to provide a robot dish delivery system, which is used for solving the problem that the prior art cannot utilize a robot to deliver dishes conveniently and safely.
To achieve the above and other related objects, the present invention provides a robot dish transfer system, comprising: a robot including a robot body, and a hand device connected to the robot body through a flange member; the robot comprises a moving track, a robot main body and a control unit, wherein the moving track is paved on the ground, and the robot main body is fixed on the moving track; at least one customer safety door disposed adjacent one side of the travel rail, including a first protective member and a first drive; wherein, one side of each customer safety door far away from the moving track is correspondingly provided with a dining card seat; the customer dish taking window corresponds to the dining card seat, the customer dish taking window is located above the customer safety door, and a first tray accommodating part is arranged on the customer dish taking window close to the moving track.
In an embodiment of the present invention, the first protection component of the customer safety door is configured to be driven by the first driving device to move upwards to a first preset position, so as to separate the first tray accommodating portion from the dining card seat; the first protection part of the customer safety door is further used for being driven by the first driving device to move downwards to a second preset position so as to communicate the first tray accommodating part with the dining card seat.
In one embodiment of the present invention, the robotic dish delivery system further includes a chef safety door disposed adjacent to one side of the moving track, including a second guard member and a second driving device; wherein, one side of the chef safety door far away from the moving track is correspondingly provided with a chef operation space; the robotic dish transfer system further comprises a cook dish placing window which is arranged adjacent to one side of the moving track, wherein the cook dish placing window is positioned below the cook safety door, and a second tray accommodating part is arranged on one side, close to the moving track, of the cook dish placing window; the second protection part of the chef safety door is used for being driven by the second driving device to move upwards to a third preset position so as to separate the second tray accommodating part from the chef operation space; the second protection part of the chef safety door is further used for being driven by the second driving device to move downwards to a fourth preset position so as to communicate the second tray accommodating part with the chef operation space.
In an embodiment of the present invention, the hand device includes a clamping portion for clamping the tray, and the clamping portion is made of a flexible material.
In an embodiment of the invention, the number of the hand devices is two, and the hand devices are symmetrical with respect to the robot body.
In an embodiment of the invention, the robot further comprises a head device disposed at an upper portion of the robot body.
In an embodiment of the present invention, the customer dish taking window and/or the cook dish placing window are/is made of stainless steel.
In an embodiment of the present invention, each of the customer safety doors has a controller in wireless or wired communication with the robot, and the controller is configured to receive a control signal sent by the robot, and send a driving signal to the driving device according to the control signal.
In one embodiment of the present invention, the first tray accommodating portion is provided with a first pressure sensor electrically connected to a first processor, the first processor communicates with the robot, and when the first processor determines that the pressure detected by the first pressure sensor is less than a preset first pressure threshold, it is determined that no tray is in the corresponding first tray accommodating portion; when the first processor judges that the pressure detected by the first pressure sensor is larger than a preset second pressure threshold value, judging that a tray is contained in the first tray containing part and the tray is a non-empty tray; when the first processor judges that the pressure detected by the first pressure sensor is larger than the first pressure threshold and smaller than the second pressure threshold, the first processor judges that the tray is contained in the first tray containing part and the tray is an empty tray.
In a specific embodiment of the present invention, the second tray accommodating portion is provided with a second pressure sensor electrically connected to a second processor, where the second processor communicates with the robot, and when the second processor determines that the pressure detected by the second pressure sensor is less than a preset third pressure threshold, it determines that there is no tray in the corresponding second tray accommodating portion; when the second processor judges that the pressure detected by the second pressure sensor is larger than a preset fourth pressure threshold value, judging that a tray is contained in the second tray containing part and the tray is a non-empty tray; when the second processor judges that the pressure detected by the second pressure sensor is larger than the third pressure threshold and smaller than the fourth pressure threshold, the second tray accommodating part is accommodated with the tray, and the tray is an empty tray.
As described above, the robot dish transfer system of the present invention includes: a robot including a robot body, and a hand device connected to the robot body through a flange member; the robot comprises a moving track, a robot main body and a control unit, wherein the moving track is paved on the ground, and the robot main body is fixed on the moving track; at least one customer safety door disposed adjacent one side of the travel rail, including a first protective member and a first drive; wherein, one side of each customer safety door far away from the moving track is correspondingly provided with a dining card seat; the customer dish taking window corresponds to the dining card seat, the customer dish taking window is located above the customer safety door, and a first tray accommodating part is arranged on the customer dish taking window close to the moving track. According to the invention, through space division, the customers and the robot work areas are mutually independent, so that the dish transferring work of a attendant can be replaced, the labor cost of catering enterprises is saved, the operation efficiency is high, and meanwhile, the dining safety of the customers is protected to the greatest extent.
Drawings
Referring to fig. 1, a schematic diagram of a robotic dish delivery system according to an embodiment of the present invention is shown.
Referring to fig. 2, a schematic diagram of the robotic dish delivery system according to the present invention is shown.
Referring to FIG. 3, a schematic diagram of a customer security door according to an embodiment of the present invention is shown.
Referring to fig. 4, a schematic structure of a chef safety door according to an embodiment of the invention is shown.
Description of element reference numerals
10. Robot dish delivery system
11. Robot
111. Robot main body
112. Flange part
113. Hand device
12. Mobile rail
13. Customer safety door
131. First protective component
132. First driving device
14. Dining card holder
15. Customer dish taking window
16. First tray accommodation part
17. Chef safety door
171. Second protective component
172. Second driving device
18. Kitchen cook dish placing window
19. Second tray accommodation part
20. Protective safety door
Detailed Description
Further advantages and effects of the present invention will become apparent to those skilled in the art from the disclosure of the present invention, which is described by the following specific examples.
Please refer to fig. 1 to 4. It should be understood that the structures, proportions, sizes, etc. shown in the drawings are for illustration purposes only and should not be construed as limiting the invention to the extent that it can be practiced, since modifications, changes in the proportions, or otherwise, used in the practice of the invention, are not intended to be critical to the essential characteristics of the invention, but are intended to fall within the spirit and scope of the invention. Also, the terms such as "upper," "lower," "left," "right," "middle," and "a" and the like recited in the present specification are merely for descriptive purposes and are not intended to limit the scope of the invention, but are intended to provide relative positional changes or modifications without materially altering the technical context in which the invention may be practiced.
Referring to fig. 1, a schematic diagram of a robotic dish delivery system according to an embodiment of the present invention is shown.
Referring to fig. 2, a schematic diagram of the robotic dish delivery system according to the present invention is shown.
Wherein fig. 1 is a schematic view of the robotic dish delivery system shown from a top view and fig. 2 is a schematic view of the robotic dish delivery system of the present invention shown from a side view.
The robotic dish delivery system 10 includes:
a robot 11 including a robot main body 111, and a hand device 113 connected to the robot main body 111 via a flange member 112;
a moving rail 12 laid on the ground, the robot body 111 being fixed to the moving rail 12;
at least one customer safety door 13 disposed adjacent to one side of the moving rail 12, including a first shielding part 131 and a first driving device 132; wherein, a dining card seat 14 is correspondingly arranged on one side of each customer safety door 13 away from the moving track 12;
the customer dish taking window 15 corresponds to the dining card seat 14, the customer dish taking window 15 is located above the customer safety door 13, and the customer dish taking window 15 is provided with a first tray accommodating portion 16 near the moving rail 12.
In an embodiment of the present invention, the first protection component 131 of the customer safety door 13 is configured to be driven by the first driving device 132 to move upwards to a first preset position, so as to separate the first tray accommodating portion from the dining card seat; specifically, when the robot transfers dishes to the window, the customer safety door 13 is controlled to move upwards to the first preset position so as to seal the dish taking window 15 of the customer, thereby ensuring the safety of the robot during dish transfer. The first protection component 131 of the customer safety door 13 is further driven by the first driving device 132 to move downward to a second preset position, so as to communicate the first tray accommodating portion with the dining card holder. That is, after the robot finishes transferring the dishes to the first tray accommodating portion 16, and after a distance or time from the first tray accommodating portion 16, the customer safety door 13 is moved downward to the second preset position, that is, the customer dish taking window 15 is unsealed, so that the customer can freely take dishes from the first tray accommodating portion 16 of the customer dish taking window 15. Wherein the first preset position is a position that moves upwards to enable the customer dish taking window 15 to be completely sealed, and the second preset position is a position that moves downwards to enable the customer dish taking window 15 to be completely opened. Preferably, the customer safety door 13 is moved up and down by a cylinder driving. The structure of the customer safety door 13 is shown in fig. 3, wherein the first protection member 131 is preferably a tempered glass structure, and the first driving device 132 is a cylinder driving structure.
In an embodiment of the present invention, the robotic dish delivery system 10 further includes a chef safety door 17 disposed adjacent to one side of the moving track 12, including a second protective member 171 and a second driving device 172; wherein, a chef operation space is correspondingly arranged on one side of the chef safety door 17 away from the moving track 12; the robotic dish delivery system 10 further includes a cook dish placement window 18 disposed adjacent to one side of the moving rail 12, the cook dish placement window 18 being located below the cook safety door 17, the cook dish placement window 18 being provided with a second tray receiving portion 19 adjacent to one side of the moving rail 12; the second guard member 171 of the chef safety door 17 is configured to be moved upward to a third predetermined position by the driving of the second driving device 172 to isolate the second tray accommodating portion 19 from the chef operation space; and the second guard member 171 of the chef safety door 17 is further configured to be moved downward to a fourth preset position by the driving of the second driving device 172 to communicate the second tray accommodating portion 19 with the chef operation space.
In one embodiment of the present invention, the number of the hand devices 113 is two, and the hand devices are symmetrical with respect to the robot main body 111. The robot 11 is preferably a fifteen-axis two-arm robot.
In an embodiment of the present invention, after the robot 11 reaches the customer picking window 15, it is first determined whether an existing empty tray exists in the customer picking window 15, if so, the robot operates the picking program, extracts the existing empty tray in the customer window through one of the two arms, operates a feeding program after the existing empty tray is extracted, and places the feeding tray in the first tray accommodating portion 16 of the customer picking window 15 through the other of the two arms.
In one embodiment of the present invention, the hand device 113 includes a holding portion for holding the tray, and the holding portion is made of a flexible material. Can prevent to cause the damage to the tray when the tray is held. The clamping part is preferably provided with a cylinder part, and the cylinder part pushes a clamping block to move up and down so as to reduce or increase the distance between the clamping block and a fixed tray supporting part on the hand device, and when the distance between the clamping block and the fixed tray supporting part is smaller, a clamping force can be generated to clamp the tray arranged between the clamping block and the fixed tray supporting part, and when the distance between the clamping block and the fixed tray supporting part is larger, the clamped state of the tray between the clamping block and the fixed tray supporting part can be released.
In an embodiment of the present invention, the robot further includes a head device disposed on the upper portion of the robot main body 111, preferably, the head device is further provided with an indicator light for indicating the working state of the robot, for example, a red light during a dish transferring process of the robot, and a green light during an idle process of the robot. The indicator light may also blink at a frequency to simulate the blinking function of the human eye.
In an embodiment of the present invention, the customer dish taking window 15 and/or the cook dish placing window are/is made of stainless steel.
In an embodiment of the present invention, each of the customer safety doors 13 has a controller in wireless or wired communication with the robot 11, and the controller is configured to receive a control signal sent by the robot, and send a driving signal to the driving device according to the control signal, specifically, when the robot 11 sends a dish to the window, send a control signal to the controller, so that the controller sends a driving signal to the driving device to control the customer safety door 13 to move upwards to the first preset position, so as to seal the customer dish taking window 15, thereby ensuring the safety when the robot sends a dish. That is, after the robot finishes transferring the dishes to the first tray accommodating part 16, and after a distance or time from the first tray accommodating part 16, a control signal is sent to the controller, so that the controller sends a driving signal to the driving device, and the customer safety door 13 moves downwards to the second preset position, that is, the customer dish taking window 15 is unsealed, so that the customer can take dishes freely from the first tray accommodating part 16 of the customer dish taking window 15.
And the control process of the robot to the cook emergency exit 17 is similar to the control process to the customer emergency exit 13, and when the robot 11 approaches the cook emergency exit 17, the cook emergency exit 17 is controlled to be closed, so as to ensure the safety of the cook in the cook operation space, and after the robot 11 leaves the cook emergency exit 17 for a certain time, the cook emergency exit 17 is controlled to be opened, so that the cook operation space is communicated with the second tray accommodating part 19, and the convenience of placing or taking down the tray on the second tray accommodating part 19 by the cook is ensured. As shown in fig. 4, the chef safety door 17 is schematically shown, wherein the second protection member 171 is preferably a tempered glass structure, and the second driving device 172 is a cylinder driving structure.
In an embodiment of the present invention, the first tray accommodating portion 16 is provided with a first pressure sensor electrically connected to a first processor, and the first processor communicates with the robot, and determines that no tray is in the corresponding first tray accommodating portion when the first processor determines that the pressure detected by the first pressure sensor is less than a preset first pressure threshold; when the first processor judges that the pressure detected by the first pressure sensor is larger than a preset second pressure threshold value, judging that a tray is contained in the first tray containing part and the tray is a non-empty tray; when the first processor determines that the pressure detected by the first pressure sensor is greater than the first pressure threshold and less than the second pressure threshold, it determines that the tray is accommodated in the first tray accommodating portion 16, and the tray is an empty tray.
In a specific embodiment of the present invention, the second tray accommodating portion is provided with a second pressure sensor electrically connected to a second processor, where the second processor communicates with the robot, and when the second processor determines that the pressure detected by the second pressure sensor is less than a preset third pressure threshold, it determines that there is no tray in the corresponding second tray accommodating portion; when the second processor judges that the pressure detected by the second pressure sensor is larger than a preset fourth pressure threshold value, judging that a tray is contained in the second tray containing part and the tray is a non-empty tray; when the second processor judges that the pressure detected by the second pressure sensor is larger than the third pressure threshold and smaller than the fourth pressure threshold, the second tray accommodating part is accommodated with the tray, and the tray is an empty tray.
Preferably, the robot is provided with a "one-key tray" button, and when the "one-key tray" button is triggered, the robot 11 automatically finds a tray accommodating portion in which empty trays are placed, collects all the empty trays, and places the empty trays in a tray accommodating portion in which the empty trays are accommodated.
In an embodiment of the present invention, the robot 11 is further preset with an entertainment program, and when the robot 11 receives an entertainment on signal, the entertainment program is run.
In one embodiment of the present invention, before the robot 11 runs the entertainment program, a close signal is sent to all the customer safety doors 13 and/or chef safety doors 17 to put all the safety doors in a closed state. Ensuring that the robot 11 performs entertainment and simultaneously ensures the safety of the customer and/or chef. The entertainment performance includes, for example, magic, dancing, and the like.
Preferably, as shown in fig. 1, a protective door 20 is further disposed on the moving track 12, and has a structure similar to that of the customer safety door 13 and the chef safety door 17, and is also formed by using tempered glass as a protective device, and using a cylinder device as a driving device, so as to prevent the robot 11 from moving out of its movable range.
In summary, the robotic dish delivery system of the present invention includes: a robot including a robot body, and a hand device connected to the robot body through a flange member; the robot comprises a moving track, a robot main body and a control unit, wherein the moving track is paved on the ground, and the robot main body is fixed on the moving track; at least one customer safety door disposed adjacent one side of the travel rail, including a first protective member and a first drive; wherein, one side of each customer safety door far away from the moving track is correspondingly provided with a dining card seat; the customer dish taking window corresponds to the dining card seat, the customer dish taking window is located above the customer safety door, and a first tray accommodating part is arranged on the customer dish taking window close to the moving track. According to the invention, through space division, the customers and the robot work areas are mutually independent, so that the dish transferring work of a attendant can be replaced, the labor cost of catering enterprises is saved, the operation efficiency is high, and meanwhile, the dining safety of the customers is protected to the greatest extent. Therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. Accordingly, it is intended that all equivalent modifications and variations of the invention be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.
Claims (10)
1. A robotic dish delivery system, comprising:
a robot including a robot body, and a hand device connected to the robot body through a flange member;
the robot comprises a moving track, a robot main body and a control unit, wherein the moving track is paved on the ground, and the robot main body is fixed on the moving track;
at least one customer safety door disposed adjacent one side of the travel rail, including a first protective member and a first drive; wherein, one side of each customer safety door far away from the moving track is correspondingly provided with a dining card seat;
the customer dish taking window corresponds to the dining card seat, the customer dish taking window is located above the customer safety door, and a first tray accommodating part is arranged on the customer dish taking window close to the moving track.
2. The robotic dish delivery system of claim 1, wherein: the first protection part of the customer safety door is used for being driven by the first driving device to move upwards to a first preset position so as to separate the first tray accommodating part from the dining card seat; the first protection part of the customer safety door is further used for being driven by the first driving device to move downwards to a second preset position so as to communicate the first tray accommodating part with the dining card seat.
3. The robotic dish delivery system of claim 1, wherein:
the robotic dish delivery system further includes a chef safety door disposed adjacent one side of the travel track, including a second guard member and a second drive; wherein, one side of the chef safety door far away from the moving track is correspondingly provided with a chef operation space;
the robotic dish transfer system further comprises a cook dish placing window which is arranged adjacent to one side of the moving track, wherein the cook dish placing window is positioned below the cook safety door, and a second tray accommodating part is arranged on one side, close to the moving track, of the cook dish placing window;
the second protection part of the chef safety door is used for being driven by the second driving device to move upwards to a third preset position so as to separate the second tray accommodating part from the chef operation space; the second protection part of the chef safety door is further used for being driven by the second driving device to move downwards to a fourth preset position so as to communicate the second tray accommodating part with the chef operation space.
4. The robotic dish delivery system of claim 1, wherein: the hand device comprises a clamping part for clamping the tray, and the clamping part is made of flexible materials.
5. The robotic dish delivery system of claim 1, wherein: the number of the hand devices is two, and the hand devices are symmetrical relative to the robot main body.
6. The robotic dish delivery system of claim 1, wherein: the robot further includes a head device provided at an upper portion of the robot body.
7. A robotic dish delivery system as claimed in claim 3, wherein: the customer dish taking window and/or the cook dish placing window are/is of an integrally formed structure made of stainless steel materials.
8. The robotic dish delivery system of claim 1, wherein: each customer safety door is provided with a controller which is in wireless or wired communication with the robot, and the controller is used for receiving a control signal sent by the robot and sending a driving signal to the driving device according to the control signal.
9. The robotic dish delivery system of claim 1, wherein: the first tray accommodating part is provided with a first pressure sensor electrically connected with a first processor, the first processor is communicated with the robot, and when the first processor judges that the pressure detected by the first pressure sensor is smaller than a preset first pressure threshold value, the corresponding first tray accommodating part is judged to be free of trays; when the first processor judges that the pressure detected by the first pressure sensor is larger than a preset second pressure threshold value, judging that a tray is contained in the first tray containing part and the tray is a non-empty tray; when the first processor judges that the pressure detected by the first pressure sensor is larger than the first pressure threshold and smaller than the second pressure threshold, the first processor judges that the tray is contained in the first tray containing part and the tray is an empty tray.
10. A robotic dish delivery system as claimed in claim 3, wherein: the second tray accommodating part is provided with a second pressure sensor electrically connected with a second processor, the second processor is communicated with the robot, and when the second processor judges that the pressure detected by the second pressure sensor is smaller than a preset third pressure threshold value, the corresponding second tray accommodating part is judged to be free of trays; when the second processor judges that the pressure detected by the second pressure sensor is larger than a preset fourth pressure threshold value, judging that a tray is contained in the second tray containing part and the tray is a non-empty tray; when the second processor judges that the pressure detected by the second pressure sensor is larger than the third pressure threshold and smaller than the fourth pressure threshold, the second tray accommodating part is accommodated with the tray, and the tray is an empty tray.
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