CN106956272A - A kind of all-around mobile meal delivery robot - Google Patents
A kind of all-around mobile meal delivery robot Download PDFInfo
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- CN106956272A CN106956272A CN201710126578.5A CN201710126578A CN106956272A CN 106956272 A CN106956272 A CN 106956272A CN 201710126578 A CN201710126578 A CN 201710126578A CN 106956272 A CN106956272 A CN 106956272A
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- pallet
- hand
- servomotor
- air pump
- motor
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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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of all-around mobile position meal delivery robot, including chassis and the body being arranged on chassis, hand, head, scalable pallet；Left hand or the right hand include arm and spherical hand, right-hand man is integrated with body respectively, there are shoulder joint, elbow joint and wrist joint on arm, wrist joint lower end is connected with solar term pump group part and the internal spherical hand for being filled with coffee powder, lower body part connecting base plate, have on chassis three groups of walking universal wheels and, sense human body human body sensor, for realize avoidance turn to avoidance sensor and battery, charging module, master controller；Body back, which is provided with emergency stop device, Caput connection head, head, positioning shooting head, and scalable pallet is fixed on body thoracic cavity.Simple in construction, low cost of the invention, applies in the room service of dining room, can not only solve the high problem of dining room cost of labor, can also directly hold food and put on the dining table, give people a kind of comfort, allows people to experience the glamour of science and technology.
Description
Technical field
The present invention relates to a kind of all-around mobile meal delivery robot, and in particular to the human-like full side of class needed for a kind of service trade
Meal delivery robot, category Industrial Robot Technology field are moved in displacement.
Background technology
With modern industrialization progress faster, mechanical automation becomes a kind of trend of society.In the industrial production
Through a large amount of processing and manufacture that production line is completed with robot, as people increase material and cultural needs, robot
Gradually among the life for having entered into people, especially in catering industry, the alleviation that a good meal delivery robot can be good
Enterprises using the labor pressure, but present catering industry is mostly to be operated with manpower and food delivery, there is small part application food delivery machine
People, but these robots can not be sent to service plate on dining table.Because the flow of the people in dining room is big, working strength is again high, to enterprise
For, even if spending high price also to be difficult to keep work personnel here, if can develop it is a with robot replace manpower carry out food delivery
Plant equipment, can undoubtedly reduce enterprises using the labor difficulty, the problem of pressure of asking someone is big.A novel robot can also inhale
Draw customer, there are good market prospects to the development of enterprise.
Chinese utility model patent《A kind of dining room service robot》（201520722065.7）It is disclosed, including four solid
The belt drive unit connection of fixed wheel, the operation of control machine people, arm and body interior so that arm simultaneously front and rear can be moved
It is dynamic, on arm equipped with can loading or unloading pallet, the end that service plate can be achieved is sent.
The existing robot for restaurant service, the deficiency of generally existing includes：Service plate end can not be put on the dining table, run
Required free space is big when narrow range, robotic end food delivery disk, the problems such as easily colliding.
The content of the invention
The present invention seeks to propose that problem uses omni-directional wheel, simple arm and spherical hand there is provided one kind for background technology,
Make range of operation bigger, service plate can have been held and service plate is served a kind of simple in construction, cheap comprehensive of dining table
Meal delivery robot.
The technical scheme is that：A kind of all-around mobile meal delivery robot, including：Chassis, body, hand and head
Portion；The hand includes：Left hand and the right hand；The body lower end is connected by connector with chassis, and Caput passes through connection
Part is connected with head, and head is built with positioning shooting head；Distinguish direct connection provided with three universal wheels, each universal wheel in the chassis bottom
One stepper motor；Be additionally provided with chassis for sense human body human body sensor, for realize avoidance turn to avoidance sensing
Device and battery, charging module, master controller；The back of the body is provided with emergency stop device；
The left hand or the right hand include：Shoulder joint, elbow joint, wrist joint, the wrist joint lower end are connected with spherical hand；It is special
Levy and be：
The thoracic cavity position of body is provided with pallet that is extended and retracting, the pallet is used to accept on the right side of service plate, pallet
Motor is provided with, the pallet left and right sides is respectively arranged with gear and tooth bar；The stretching of pallet and it is retracted through motor and gear, tooth
Bar is driven, when receiving or passing out service plate, and motor driven gear is rotated, and gear driven tooth bar, which is moved, make it that pallet is displaced outwardly stretching out
Before thoracic cavity；Transport during service plate to dining table, tray retracted is in thoracic cavity；
The spherical hand includes connecing air pump assembly and rubber round end；Described connect has trachea and filter inside air pump assembly, institute
Stating robot body interior has air pump, and the trachea is connected with being arranged on the air pump of robot body interior, the plantation rubber
Head is internal to be filled with coffee powder；The air pump is used to realize to the pumping or inflation inside rubber round end.
A kind of comprehensive meal delivery robot as described above, it is characterised in that：The shoulder joint of the left hand or the right hand passes through
Support is connected with body, and the two ends of shoulder joint are respectively arranged with elimination wide arc gap servomotor one and eliminate wide arc gap servomotor
Two, shoulder joint lower end is provided with connects bearing, and connects bearing lower end is provided with servomotor five, and the lower end of servomotor five is connected with
Attachment spacers, attachment spacers lower end is connected with connecting rod, is constituted between the servomotor five and attachment spacers under elbow joint, connecting rod
End is connected with motor support base, and motor support base lower section is fixed with servomotor three and servomotor four successively, and servomotor three can be around
Motor support base rotation, wrist joint is constituted between motor support base and servomotor three, the servomotor four can be around servo electricity
Machine three is rotated, and the output of servomotor four connects air pump assembly, connects the rubber round end that air pump assembly lower end connects spherical hand.
A kind of comprehensive meal delivery robot as described above, it is characterised in that：One piece of baffle plate is additionally provided with front of the pallet,
The second gear engaged with the tooth bar is internally provided with the baffle plate, when pallet is located at thoracic cavity, on the baffle plate
Move and cover pallet；When pallet stretches out thoracic cavity, the baffle plate is moved down in the case where tooth bar and second gear drive.
The action process that spherical hand of the present invention stretches out and held service plate is：Universal wheel is driven to move by stepper motor
It is dynamic, kitchen is entered by the information fed, first the spherical hand under inflated condition is placed on the edge of plate, works as spherical rubber
During to lower recess, the air of air pump now in the spherical hand of work extraction makes spherical hand be hardened, at the same time scalable pallet is in tooth
To overhanging in the presence of wheel tooth bar, then service plate is placed on pallet, air pump is inflated into spherical hand, and motor reversal enters pallet
Enter body interior.Then meal delivery robot is positioned under designated program by the positioning shooting in eyes, human body sensing and avoidance
Sensor is moved to specified seat, is reached and is specified seats in a restaurant, stretches out pallet, and spherical hand has been held service plate, then contracted in the same manner again
Pallet is returned, service plate is placed on dining table, food delivery task is completed.
The beneficial effects of the invention are as follows：, can be in broader sky by omni-directional wheel so that meal delivery robot is more flexible
Between run；Spherical hand end is played the service plate on pallet and it is placed on dining table by the air pump in body, meet various plates
Crawl, it is simple in construction, it is cheap, meet the demand in various dining rooms.
Brief description of the drawings
Fig. 1 is a kind of embodiment of the present invention " comprehensive meal delivery robot " schematic perspective view；
Fig. 2 is chassis structure schematic diagram；
Fig. 3 is support holder structure schematic diagram；
Fig. 4 is arm structure signal.
Description of symbols in accompanying drawing：1. head, 2. positioning shooting heads, 3. pallets, 4. baffle plates, 5. bodies, 6. human body sensors,
7. avoidance sensor, 8. chassis, 9. universal wheels, 10. stepper motors, 11. gears, 12. tooth bars, 13. eliminate wide arc gap servo electricity
Machine one, 14. eliminate wide arc gap servomotor two, 15. connects bearings, 16. attachment spacers, 17. connecting rods, 18. servomotors three,
19. servomotor four, 20. connects air pump assembly, 21. rubber round ends, 22. servomotors five, 23. motor support bases, 24. supports.
Embodiment
Below in conjunction with accompanying drawing, embodiments of the present invention is further illustrated, and the example of the embodiment is shown in the drawings,
Wherein same or similar label represents same or similar element or the element with same or like function from beginning to end.Under
The embodiment that face is described by reference to accompanying drawing is exemplary, it is intended to for explaining the present invention, and it is not intended that to the present invention
Limitation, any modification, equivalent or the improvement made within the spirit and principles of the invention etc. should be included in this
Within the right of invention, do not addressed in detail in the technical program, be known technology.
Referring to Fig. 1~Fig. 4, a kind of comprehensive meal delivery robot of the invention, including：Chassis 8, body 5, hand and head 1；
The hand includes：Left hand and the right hand；The lower end of body 5 is connected by connector with chassis 8, and the upper end of body 5 passes through connection
Part is connected with head 1, and head 1 is built with positioning shooting first 2；The bottom of chassis 8 is provided with three universal wheels 9, each 9 points of universal wheel
Other one stepper motor 10 of direct connection；It is additionally provided with chassis 8：For sensing the human body sensor 6 of human body, for realizing that avoidance turns
To avoidance sensor 7 and battery, charging module, master controller；The back of the body 5 is provided with emergency stop device.By
A universal wheel 9 is controlled in each stepper motor 10 so that all-around mobile meal delivery robot can be turned in a small range
Curved, each stepper motor 10 is connected with the master controller inside the body 5.
As shown in Figure 4, the left hand or the right hand include：Shoulder joint, elbow joint, wrist joint（A left side is only drawn in Fig. 4
Hand）；The shoulder joint of the left hand or the right hand is connected by support 24 with body 5, and the two ends of shoulder joint are respectively arranged with elimination
Wide arc gap servomotor 1 and elimination wide arc gap servomotor 2 14, shoulder joint lower end are provided with connects bearing 15, connection branch
15 lower ends of seat are provided with a servomotor 5 22, and the lower end of servomotor 5 22 is connected with attachment spacers 16, attachment spacers 16
End is connected with connecting rod 17, and elbow joint, the lower end of connecting rod 17 and motor branch are constituted between the servomotor 5 22 and attachment spacers 16
Seat 23 is connected, and the lower section of motor support base 23 is fixed with servomotor 3 18 and servomotor 4 19 successively, and servomotor 3 18 can be around
Motor support base 23 to rotate, constitute wrist joint between motor support base 23 and servomotor 3 18, the servomotor 4 19 can be around
The rotation of servomotor 3 18, the output of servomotor 4 19 connects air pump assembly 20, connects the lower end connected ball of air pump assembly 20
The rubber round end 21 of shape hand；Described connect has trachea and filter inside air pump assembly 20, the trachea is with being arranged on machine
Air pump connection inside people, the inside of rubber round end 21 is filled with coffee powder.
As shown in accompanying drawing 1 and 3, the thoracic cavity position of body is provided with pallet 3 that is extended and retracting, the pallet 3
For accepting service plate, the lower section of pallet 3 is provided with motor, gear 12, tooth bar 11；The stretching of pallet 3 and it is retracted through motor and tooth
Wheel 12, tooth bar 11 are driven, and when receiving or passing out service plate, motor driven gear 12 is rotated, and gear 12 is moved with carry-over bar 11 to be caused
Pallet 3 is displaced outwardly stretching out in before thoracic cavity；Transport during service plate to dining table, pallet 3 is retracted in thoracic cavity.Pallet 3
Front is additionally provided with one piece of baffle plate 4, the baffle plate 4 and is internally provided with the second gear engaged with the tooth bar 11, when pallet 3
During positioned at thoracic cavity, the baffle plate 4 moves up and covers pallet 3；When pallet 3 stretches out thoracic cavity, the baffle plate 4 is in tooth bar 11 and the
Moved down under two gear drivens.
The action process that spherical hand of the present invention stretches out and held service plate is：First, driven by stepper motor universal
Wheel movement, enters kitchen by the information fed, first the spherical hand under inflated condition is placed on the edge of plate, when spherical
When rubber is to lower recess, the air of air pump now in the spherical hand of work extraction makes spherical hand be hardened, at the same time scalable pallet
To overhanging in the presence of rack-and-pinion, then service plate is placed on pallet, air pump is inflated into spherical hand, and motor reversal makes support
Disk enters body interior.Then meal delivery robot is under designated program, is positioned by the positioning shooting in eyes, human body sensing and
Avoidance sensor is moved to specified seat, is reached and is specified seats in a restaurant, stretches out pallet, and spherical hand has held service plate in the same manner again, so
After retract pallet, service plate is placed on dining table, food delivery task is completed.
The present invention make it that meal delivery robot is more flexible by omni-directional wheel, can be in broader space motion；Pass through body
Internal air pump makes spherical hand end play the service plate on pallet and it is placed on dining table, meets the crawl of various plates, structure letter
It is single, it is cheap, meet the demand in various dining rooms.
Specific embodiment described herein is only to spirit explanation for example of the invention.Technology neck belonging to of the invention
The technical staff in domain can be made various modifications or supplement to described specific embodiment or be replaced using similar mode
Generation, but without departing from the spirit of the present invention.
Claims (3)
1. a kind of all-around mobile meal delivery robot, including：Chassis (8), body (5), hand and head (1)；The hand bag
Include：Left hand and the right hand；Body (5) lower end is connected by connector with chassis (8), body (5) upper end by connector with
Head (1) is connected, and head (1) is built with positioning shooting head (2)；Chassis (8) bottom is provided with three universal wheels (9), each ten thousand
To wheel (9) difference one stepper motor (10) of direct connection；Be additionally provided with chassis (8) for sense human body human body sensor (6), use
In the avoidance sensor (7) and battery, charging module, master controller of realizing avoidance steering；The back of the body (5) is provided with
Emergency stop device；The left hand or the right hand include：Shoulder joint, elbow joint, wrist joint, the wrist joint lower end are connected with spherical
Hand；It is characterized in that：
The thoracic cavity position of body (5) is provided with pallet (3) that is extended and retracting, the pallet (3) is used to accept service plate,
Motor is provided with the right side of pallet (3), the left and right sides of pallet (3) is also respectively provided with gear (11) and tooth bar (12)；Pallet (3)
Stretching and be retracted through motor and gear (11), tooth bar (12) driving, when receiving or passing out service plate, motor driven gear (11)
Rotate, gear (11) band carry-over bar (12) is mobile make it that pallet (3) is displaced outwardly stretching out in before thoracic cavity；Service plate is transported to dining table
During, pallet (3) is retracted in thoracic cavity；
The spherical hand includes connecing air pump assembly (20) and rubber round end (21)；Described connect inside air pump assembly (20) has trachea
And filter, the machine human body (5) is internal air pump, the trachea and the air pump company for being arranged on robot body interior
Connect, coffee powder is filled with inside the rubber round end (21)；The air pump is used to realize to be taken out to rubber round end (21) inside
Gas or inflation.
2. a kind of comprehensive meal delivery robot as claimed in claim 1, it is characterised in that：The shoulder joint of the left hand or the right hand is equal
Pass through support（24）With body（5）It is connected, the two ends of shoulder joint are respectively arranged with elimination wide arc gap servomotor one（13）With disappear
Except wide arc gap servomotor two（14）, shoulder joint lower end is provided with connects bearing（15）, connects bearing（15）Lower end, which is provided with, to be watched
Take motor five（22）, servomotor five（22）Lower end is connected with attachment spacers（16）, attachment spacers（16）Lower end is connected with connecting rod
（17）, the servomotor five（22）With attachment spacers（16）Between constitute elbow joint, connecting rod（17）Lower end and motor support base
（23）Connection, motor support base（23）Lower section is fixed with servomotor three successively（18）With servomotor four（19）, servomotor three
（18）Can be around motor support base（23）Rotate, motor support base（23）With servomotor three（18）Between constitute wrist joint, it is described to watch
Take motor four（19）Can be around servomotor three（18）Rotate, servomotor four（19）Output connect air pump assembly（20）,
Connect air pump assembly（20）Lower end connects the rubber round end of spherical hand（21）.
3. a kind of comprehensive meal delivery robot as claimed in claim 1, it is characterised in that：The pallet（3）Front is additionally provided with
One piece of baffle plate（4）, the baffle plate（4）On be internally provided with and the tooth bar（12）The second gear of engagement, works as pallet（3）It is located at
During thoracic cavity, the baffle plate（4）Move up and cover pallet（3）；Pallet（3）When stretching out thoracic cavity, the baffle plate（4）In tooth bar
（12）And moved down under second gear drive.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710126578.5A CN106956272A (en) | 2017-03-06 | 2017-03-06 | A kind of all-around mobile meal delivery robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710126578.5A CN106956272A (en) | 2017-03-06 | 2017-03-06 | A kind of all-around mobile meal delivery robot |
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| CN106956272A true CN106956272A (en) | 2017-07-18 |
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| CN201710126578.5A Pending CN106956272A (en) | 2017-03-06 | 2017-03-06 | A kind of all-around mobile meal delivery robot |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107838930A (en) * | 2017-11-09 | 2018-03-27 | 重庆市臻憬科技开发有限公司 | A kind of meal delivery robot |
| CN107953343A (en) * | 2017-11-30 | 2018-04-24 | 歌尔科技有限公司 | Dining room robot and its food delivery method |
| CN107953341A (en) * | 2017-10-10 | 2018-04-24 | 重庆西楚智捷科技有限公司 | A kind of tableware robot |
| CN108673532A (en) * | 2018-08-02 | 2018-10-19 | 侯玉闯 | A kind of dining room service robot based on human-computer interaction technology |
| CN109015678A (en) * | 2018-08-21 | 2018-12-18 | 深圳威琳懋生物科技有限公司 | A kind of robot for food delivery |
| CN109227514A (en) * | 2018-09-25 | 2019-01-18 | 南京帅瑞科技有限公司 | A kind of robot mobile device for science and technology center welcome |
| CN109732624A (en) * | 2019-03-11 | 2019-05-10 | 李永梅 | A kind of meal delivery device based on intelligent robot |
| CN109849007A (en) * | 2019-01-28 | 2019-06-07 | 武汉科技大学 | Intelligent room service robot |
| CN110053016A (en) * | 2019-05-31 | 2019-07-26 | 南京涵铭置智能科技有限公司 | A kind of hotel's meal delivery robot and working method |
| CN112551121A (en) * | 2020-12-09 | 2021-03-26 | 杭州致盾科技有限公司 | Food material pollution preventing food placing device of food delivery robot with supporting mechanism |
| CN112571432A (en) * | 2020-12-12 | 2021-03-30 | 安徽新博普曼智能科技股份有限公司 | Dining room intelligent service robot with dinner plate lifting control mechanism |
| CN112621776A (en) * | 2020-12-09 | 2021-04-09 | 杭州致盾科技有限公司 | Food material pollution preventing food placing device of food delivery robot |
| CN113345481A (en) * | 2021-06-24 | 2021-09-03 | 安徽信息工程学院 | Disk bracket for disk array cabinet |
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| CN107953341A (en) * | 2017-10-10 | 2018-04-24 | 重庆西楚智捷科技有限公司 | A kind of tableware robot |
| CN107838930A (en) * | 2017-11-09 | 2018-03-27 | 重庆市臻憬科技开发有限公司 | A kind of meal delivery robot |
| CN107953343A (en) * | 2017-11-30 | 2018-04-24 | 歌尔科技有限公司 | Dining room robot and its food delivery method |
| CN108673532A (en) * | 2018-08-02 | 2018-10-19 | 侯玉闯 | A kind of dining room service robot based on human-computer interaction technology |
| CN109015678A (en) * | 2018-08-21 | 2018-12-18 | 深圳威琳懋生物科技有限公司 | A kind of robot for food delivery |
| CN109227514A (en) * | 2018-09-25 | 2019-01-18 | 南京帅瑞科技有限公司 | A kind of robot mobile device for science and technology center welcome |
| CN109849007A (en) * | 2019-01-28 | 2019-06-07 | 武汉科技大学 | Intelligent room service robot |
| CN109732624B (en) * | 2019-03-11 | 2020-11-06 | 山东宾合信息科技有限公司 | Food delivery device based on intelligent robot |
| CN109732624A (en) * | 2019-03-11 | 2019-05-10 | 李永梅 | A kind of meal delivery device based on intelligent robot |
| CN110053016A (en) * | 2019-05-31 | 2019-07-26 | 南京涵铭置智能科技有限公司 | A kind of hotel's meal delivery robot and working method |
| CN112551121A (en) * | 2020-12-09 | 2021-03-26 | 杭州致盾科技有限公司 | Food material pollution preventing food placing device of food delivery robot with supporting mechanism |
| CN112621776A (en) * | 2020-12-09 | 2021-04-09 | 杭州致盾科技有限公司 | Food material pollution preventing food placing device of food delivery robot |
| CN112621776B (en) * | 2020-12-09 | 2022-07-05 | 杭州致盾科技有限公司 | Food material pollution preventing food placing device of food delivery robot |
| CN112551121B (en) * | 2020-12-09 | 2022-10-25 | 杭州致盾科技有限公司 | Food material pollution preventing food placing device of food delivery robot with supporting mechanism |
| CN112571432A (en) * | 2020-12-12 | 2021-03-30 | 安徽新博普曼智能科技股份有限公司 | Dining room intelligent service robot with dinner plate lifting control mechanism |
| CN113345481A (en) * | 2021-06-24 | 2021-09-03 | 安徽信息工程学院 | Disk bracket for disk array cabinet |
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