CN108115698A - A kind of intelligence is served robot - Google Patents
A kind of intelligence is served robot Download PDFInfo
- Publication number
- CN108115698A CN108115698A CN201611077080.6A CN201611077080A CN108115698A CN 108115698 A CN108115698 A CN 108115698A CN 201611077080 A CN201611077080 A CN 201611077080A CN 108115698 A CN108115698 A CN 108115698A
- Authority
- CN
- China
- Prior art keywords
- pallet
- robot
- serving
- screw
- detection device
- Prior art date
- 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.)
- Pending
Links
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
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Table Equipment (AREA)
Abstract
It is specially that a kind of intelligence is served robot the present invention relates to serving trolley technical field.A kind of intelligence of the present invention is served robot, and including mobile device and meal delivery device, the mobile device is for walking and positioning of the robot before serving of serving；The meal delivery device is used for lifting and pushing to vegetable；The mobile device includes pedestal, running gear and the first detection device, and the running gear and first detection device are arranged on the pedestal；The meal delivery device includes pallet, vertical lifting mechanism, horizontal mobile mechanism and second detection device, and the pallet is arranged on the horizontal mobile mechanism, and the second detection device is arranged on the pallet.The present invention realizes the automatic recycling of pallet by the variation of filler ring diameter, improves the comfort level of customer's dining by realizing serving for pallet to the horizontal push and oscilaltion of pallet, reduces and is spread and the possibility of guest's scald since human error causes food to touch.
Description
Technical field
The present invention relates to serving trolley technical field, more particularly to a kind of intelligence is served robot.
Background technology
In recent years, with the development of catering trade and the generalization of intelligent robot, many dining rooms start to quote intelligence machine
People carries out food delivery, and Intelligent meal delivery robot can not only save human cost, improve efficiency, and intelligent effect of visualization also meets
The entertainment requirements of numerous customers bring more topic points for dining room, have attracted more customers, wide market.
Existing meal delivery robot is mostly that height is fixed, and is only capable of service plate being sent to dining table edge, must stand up oneself by customer
The food in robot service plate is started to take out or service plate is served into dining table still needs to customer and is started service plate under vegetable end, so
It not only brings inconvenience to customer, is more dangerous to some children the old and the weak.
To solve this problem, the application designs a kind of intelligence and serves robot, this intelligence serves robot using up and down
The structure for lifting and moving horizontally enables pallet to be lifted and pushed, using the variable filler ring of diameter make vegetable be laid down and
Realize pallet recycling, the application improve customer dining comfort level, reduce due to human error cause food touch spread and
The possibility of guest's scald.
The content of the invention
Present invention seek to address that the problem of vegetable cannot be placed directly on dining table by existing present Intelligent meal delivery robot, carries
It serves robot for a kind of intelligence.
A kind of intelligence of the present invention is served robot, including mobile device and meal delivery device, the mobile device for
Walking and positioning of the dish robot before serving；The meal delivery device is used for lifting and pushing to vegetable；
The mobile device includes pedestal, running gear and the first detection device, the running gear and first inspection
Device is surveyed to be arranged on the pedestal；
The meal delivery device includes pallet, vertical lifting mechanism, horizontal mobile mechanism and second detection device, the pallet
It is arranged on the horizontal mobile mechanism, the second detection device is arranged on the pallet.
Further, filler ring and rack are provided on the pallet, the filler ring is intermediate hollow out, and the rack is described
The bottom surface of pallet, it is parallel with the short side of the pallet.
Further, the filler ring is two semi-loops, and what the semi-ring can be in opposite directions is close and separate, two described half
The circular ring structure diameter that ring is formed is variable.
Further, the horizontal mobile mechanism includes U-shaped board, L-type plate, gear and the first motor.
Further, the L-type plate is connected with the U-shaped board, and first motor and the gear pass through the L-type plate
It is connected with the U-shaped board, first motor drives the gear to rotate, and the gear and the rack are ratcheting, described in drive
Pallet moves horizontally.
Further, the vertical lifting mechanism includes leading screw, screw, top nut, lower nut, driven pulley, main belt
Wheel, synchronous belt, the second motor and bottom plate.
Further, the screw is set on the leading screw, and the top nut is arranged on the leading screw top, for limiting
Moving upwards for the screw is made, the lower nut is arranged on the bottom of the leading screw, for limiting the downward fortune of the screw
It is dynamic.
Further, the leading screw bottom is connected with the driven pulley；The screw is connected with the U-shaped board, described
Second motor, the driven pulley and the driving pulley are arranged on the bottom plate, and the bottom plate connects with the mobile device
It connects, the synchronous belt is set on the driving pulley and the driven pulley, and second motor drives the driving pulley
It rotates, by the synchronous belt driven pulley is driven to rotate, realize that the driven pulley drives the leading screw rotation, pass through
The screw realizes the vertical displacement movement of the U-shaped board.
Further, the pallet further includes groove, and the groove is inverted L shape, and the U-shaped board top edge has flanging, institute
It is chimeric with the groove to state flanging.
Further, first monitoring device is infrared inductor, and the second detection device is pressure sensor.
The present invention can realize pallet submitting in the horizontal direction, and according to the height of dining table pallet can be realized vertical
The movement in direction, since pallet is equipped with pressure sensor, when vegetable encounters dining table, pallet drop action stops, and filler ring is opened,
Vegetable puts dining table, and pallet recycles automatically.The invention improves the comfort level of guest's dining, reduces since human error causes
Food touch spread and guest scald possibility.
Description of the drawings
Fig. 1 is the structure chart of one embodiment of the invention.
Fig. 2 is the structure chart of the pallet of one embodiment of the invention.
The toponym that each number designation is referred in attached drawing is as follows：
1-U templates, 2-L templates, 3- gears, the first motors of 4-, 5- pallets, 6- top nuts, 7- leading screws, 8- screws, under 9-
Nut, 10- driven pulleys, 11- synchronous belts, the second motors of 12-, 13- driving pulleys, 14- bottom plates, 16- grooves, 17- racks,
18- pressure sensors
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, below in conjunction with attached drawing and specific implementation
Example, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only explaining this hair
It is bright, without being construed as limiting the invention.
As depicted in figs. 1 and 2, a kind of intelligence is served robot, and including mobile device and meal delivery device, mobile device is used for
It serves walking and positioning of the robot before serving；Meal delivery device is used for lifting, push and recycling to vegetable；
Mobile device includes pedestal, running gear and the first detection device, and running gear and the first detection device are arranged on
On pedestal, running gear can be wheel or slide, be arranged below pedestal；First detection device is infrared ray sense
Device is answered, for detecting barrier and positioning.
Meal delivery device includes pallet 5, vertical lifting mechanism, horizontal mobile mechanism and second detection device, and pallet 5 is arranged on
On horizontal mobile mechanism, second detection device is arranged on pallet 5.
Filler ring and rack 17 are provided on pallet 5, filler ring is the structure of intermediate hollow out；Rack 17 is arranged on the bottom of pallet 5
Face, towards the one side on ground, rack 17 is parallel with the short side of pallet 5, is two.5 bottom edge of pallet is additionally provided with groove 16,
Groove 16 is inverted L shape, and 1 top edge of U-shaped board has flanging, and flanging is chimeric with groove 16, steady when moving horizontally for pallet 5
It is fixed.
Horizontal mobile mechanism includes U-shaped board 1, L-type plate 2,3 and first motor 4 of gear.L-type plate 2 is connected with U-shaped board 1, the
One motor 4 and gear 3 are connected by L-type plate 2 with U-shaped board 1, and 4 drive gear 3 of the first motor rotates, the tooth of gear 3 and pallet 5
Item 17 is ratcheting, pallet 5 is driven to move horizontally, in release of the robot localization to vegetable before dining table of serving of serving.
5 two bottom sides of pallet are respectively opened there are one groove 16, and groove 16 is chimeric with U-shaped board 1, horizontal to realize horizontal conveyor
Moving mechanism is to realize that pallet 5 can protrude horizontally up 0~150mm's by symmetrical 3 rack of gear, 17 transmission mechanism in two sets of left and right
Distance.
Vertical lifting mechanism includes leading screw 7, screw 8, top nut 6, lower nut 9, driven pulley 10, driving pulley 13, same
Walk band 11, the second motor 12 and bottom plate 14.Screw 8 is set on leading screw 7, and top nut 6 is arranged on 7 top of leading screw, for limiting
Screw 8 moves upwards, and lower nut 9 is arranged on the bottom of leading screw 7, for limiting moving downward for screw 8.7 bottom of leading screw with
Driven pulley 10 connects, and screw 8 is connected with U-shaped board 1, and the second motor 12, driven pulley 10 and driving pulley 13 are arranged on bottom plate
On 14, bottom plate 14 is connected with mobile device, and synchronous belt 11 is set on driving pulley 13 and driven pulley 10, and the second motor 12 drives
Dynamic driving pulley 13 rotates, and by synchronous belt 11 driven pulley 10 is driven to rotate, and realizes that driven pulley 10 drives leading screw 7 to rotate,
Pass through the rotation of leading screw 7, the rotation for driving screw 8 downward or downward, so as to fulfill the vertical displacement movement of U-shaped board 1, due to U
Template 1 is chimeric with pallet 5, the final up and down motion for realizing pallet 5.
Vertical lifting mechanism is to realize that pallet 5 can realize 0~67.5mm by two sets of 7 mechanisms of leading screw being diagonally distributed
Vertical range.
Second detection device is pressure sensor 18, and pressure sensor 18 is used to detect whether vegetable reaches dining table, pressure
Sensor 18 can be arranged on 5 ground of pallet, close to one side of dining table, be touched for pallet 5 during placing vegetable and declining
To during dining table lowering action is controlled to stop；Pressure sensor 18 can also be arranged on the inside of filler ring, for detecting filler ring in pallet 5
The stopping of 5 lowering action of pallet when departing from vegetable during decline.
Filler ring can be two semi-rings, and two semi-rings are connected by two telescopic rods with pallet 5 respectively, pass through stretching for telescopic rod
Long and shorten, two semi-rings can be accordingly closer or far from forming the transformable annulus of diameter, annulus diameter when lifting vegetable
Less than vegetable the rim of a bowl diameter, vegetable is lifted, when vegetable reaches dining table, two semi-rings are relatively distant from, and circle diameter is stretched
Long, more than vegetable the rim of a bowl diameter, pallet 5 rises, and carries out the recycling of pallet 5.
Filler ring can also be two semi-rings of belt lock catch, and two semi-rings are connected respectively with pallet 5 by two telescopic rods, passed through
The elongation and shortening of telescopic rod, two semi-rings can accordingly closer or far from, form the transformable annulus of diameter, two semi-rings
One end is hinged the other end and is connected with lock, and the circle diameter that two semi-rings are formed when being snapped is less than vegetable the rim of a bowl diameter, right
Vegetable is lifted, and when vegetable reaches dining table, can manually solve opening lock catch, two semi-ring expansion, diameter is more than vegetable bowl
Mouth diameter, pallet 5 rise, and carry out the recycling of pallet 5.
Filler ring can also be the variable flexible annulus of diameter, and it is straight that annulus diameter when lifting vegetable is less than vegetable the rim of a bowl
Vegetable is lifted in footpath, and when vegetable reaches dining table, circle diameter extends, and more than vegetable the rim of a bowl diameter, pallet 5 rises, into
The recycling of row pallet 5.
The present invention can realize pallet submitting in the horizontal direction, and according to the height of dining table pallet can be realized vertical
The movement in direction, since pallet is equipped with pressure sensor, when vegetable encounters dining table, pallet drop action stops, and filler ring is opened,
Vegetable puts dining table, and pallet recycles automatically.The invention improves the comfort level of guest's dining, reduces since human error causes
Food touch spread and guest scald possibility.
The specific embodiment of present invention described above, is not intended to limit the scope of the present invention..Any basis
Various other corresponding changes and deformation made by the technical concept of the present invention, should be included in the guarantor of the claims in the present invention
In the range of shield.
Claims (10)
- The robot 1. a kind of intelligence is served, which is characterized in that including mobile device and meal delivery device, the mobile device is for real The existing walking and positioning of the robot before serving of serving；The meal delivery device is used to implement lifting and pushing away to vegetable It send；The mobile device includes pedestal, running gear and the first detection device, the running gear and the first detection dress It puts and is arranged on the pedestal；The meal delivery device includes pallet, vertical lifting mechanism, horizontal mobile mechanism and second detection device, and the pallet is set On the horizontal mobile mechanism, the second detection device is arranged on the pallet.
- 2. robot as described in claim 1 of serving, which is characterized in that filler ring and rack are provided on the pallet, it is described Filler ring is intermediate hollow out；The rack is arranged at the bottom of the pallet, parallel with the short side of the pallet.
- 3. robot as claimed in claim 2 of serving, which is characterized in that the filler ring includes two semi-loops, two institutes That states that semi-loop can be in opposite directions is close and separate, and the circular ring structure diameter that two semi-loops are formed is variable.
- 4. as claimed in claim 2 robot of serving, which is characterized in that the horizontal mobile mechanism include U-shaped board, L-type plate, Gear and the first motor.
- 5. as claimed in claim 4 robot of serving, which is characterized in that the L-type plate is connected with the U-shaped board, and described the One motor and the gear are connected by the L-type plate with the U-shaped board, and first motor drives the gear to rotate, institute It states gear and the rack is ratcheting, the pallet is driven to move horizontally.
- 6. as claimed in claim 5 robot of serving, which is characterized in that the vertical lifting mechanism include leading screw, screw, on Nut, lower nut, driven pulley, driving pulley, synchronous belt, the second motor and bottom plate.
- 7. robot as claimed in claim 6 of serving, which is characterized in that the screw is set on the leading screw；On described Nut is arranged on the leading screw top, for limiting moving upwards for the screw；The lower nut is arranged on the leading screw Bottom, for limiting moving downward for the screw.
- 8. robot as claimed in claim 7 of serving, which is characterized in that the leading screw bottom is connected with the driven pulley； The screw is connected with the U-shaped board, and second motor, the driven pulley and the driving pulley are arranged on the bottom plate On, the bottom plate is connected with the mobile device, and the synchronous belt is set on the driving pulley and the driven pulley, institute Stating the second motor drives the driving pulley to rotate, and by the synchronous belt driven pulley is driven to rotate, realize it is described from Movable belt pulley drives the leading screw rotation, and the vertical displacement movement of the U-shaped board is realized by the screw.
- 9. robot as claimed in claim 5 of serving, which is characterized in that the pallet further includes groove, and the groove is inverted L Type, the opening of the U-shaped board are equipped with flanging, and the flanging is chimeric with the groove.
- 10. robot as described in claim 1 of serving, which is characterized in that first monitoring device is infrared inductor, The second detection device is pressure sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611077080.6A CN108115698A (en) | 2016-11-29 | 2016-11-29 | A kind of intelligence is served robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611077080.6A CN108115698A (en) | 2016-11-29 | 2016-11-29 | A kind of intelligence is served robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108115698A true CN108115698A (en) | 2018-06-05 |
Family
ID=62225936
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611077080.6A Pending CN108115698A (en) | 2016-11-29 | 2016-11-29 | A kind of intelligence is served robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108115698A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108991741A (en) * | 2018-06-28 | 2018-12-14 | 浙江帝恒实业有限公司 | It is a kind of to add gruel desk automatically |
| CN108991743A (en) * | 2018-08-08 | 2018-12-14 | 珠海市宝康实业有限公司 | A kind of power type automatic lifting dining car |
| CN109356984A (en) * | 2018-10-23 | 2019-02-19 | 珠海格力电器股份有限公司 | Translational motion device and household appliance |
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| WO2012020858A1 (en) * | 2010-08-11 | 2012-02-16 | (주) 퓨처로봇 | Intelligent driving robot for providing customer service and calculation in restaurants |
| CN203483072U (en) * | 2013-07-03 | 2014-03-19 | 华北电力大学（保定） | Intelligent meal delivery robot |
| CN203745904U (en) * | 2014-02-27 | 2014-07-30 | 梁学坚 | Restaurant service robot system |
| CN204076246U (en) * | 2014-04-04 | 2015-01-07 | 郑州大学 | A kind of dining room service robot food delivery constructional device |
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| CN105710886A (en) * | 2016-04-14 | 2016-06-29 | 深圳市欧铠机器人有限公司 | Meal delivery assembly of meal delivery robot |
| CN105818147A (en) * | 2016-04-20 | 2016-08-03 | 柳州市力万科技有限公司 | Carrying system |
| CN205497499U (en) * | 2016-04-18 | 2016-08-24 | 浙江海洋学院东海科学技术学院 | Send dish robot |
| CN106041954A (en) * | 2016-07-05 | 2016-10-26 | 王少纯 | Restaurant robot |
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Patent Citations (11)
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| KR20110114813A (en) * | 2010-04-14 | 2011-10-20 | 순천향대학교 산학협력단 | A homemaid robot having lift construction |
| WO2012020858A1 (en) * | 2010-08-11 | 2012-02-16 | (주) 퓨처로봇 | Intelligent driving robot for providing customer service and calculation in restaurants |
| CN203483072U (en) * | 2013-07-03 | 2014-03-19 | 华北电力大学（保定） | Intelligent meal delivery robot |
| CN203745904U (en) * | 2014-02-27 | 2014-07-30 | 梁学坚 | Restaurant service robot system |
| CN204076246U (en) * | 2014-04-04 | 2015-01-07 | 郑州大学 | A kind of dining room service robot food delivery constructional device |
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| CN105710886A (en) * | 2016-04-14 | 2016-06-29 | 深圳市欧铠机器人有限公司 | Meal delivery assembly of meal delivery robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108991741A (en) * | 2018-06-28 | 2018-12-14 | 浙江帝恒实业有限公司 | It is a kind of to add gruel desk automatically |
| CN108991741B (en) * | 2018-06-28 | 2021-02-09 | 何丽珍 | Automatic add porridge desk |
| CN108991743A (en) * | 2018-08-08 | 2018-12-14 | 珠海市宝康实业有限公司 | A kind of power type automatic lifting dining car |
| CN109356984A (en) * | 2018-10-23 | 2019-02-19 | 珠海格力电器股份有限公司 | Translational motion device and household appliance |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180605 |
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| RJ01 | Rejection of invention patent application after publication |