CN108673532A - A kind of dining room service robot based on human-computer interaction technology - Google Patents
A kind of dining room service robot based on human-computer interaction technology Download PDFInfo
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- CN108673532A CN108673532A CN201810872612.8A CN201810872612A CN108673532A CN 108673532 A CN108673532 A CN 108673532A CN 201810872612 A CN201810872612 A CN 201810872612A CN 108673532 A CN108673532 A CN 108673532A
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- arm
- fuselage
- gear ring
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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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- 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
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Abstract
The invention belongs to robotic technology field, specifically a kind of dining room service robot based on human-computer interaction technology；Including head, fuselage, manipulator, automatic sliding door, automatic expansion bracket and chassis, head is located at fuselage upper end；Fuselage is disposed with space gradually increased storage dish storehouse from top to bottom；Manipulator is arranged in Chu Caicang；Automatic sliding door is arranged in the Hatch Opening of Chu Caicang, and automatic sliding door is for automatically opening Chu Caicang；The upper end of automatic expansion bracket is hinged with fuselage, and the lower end of automatic expansion bracket is hinged with chassis, and automatic expansion bracket keeps Chu Caicang concordant with dining table for increasing；Locator and wheel one are provided on chassis, wheel one is for driving man-machine interactive dining room service robot to walk；Locator is for dining table position where location client；The present invention solves the problems, such as that dining room dining peak period waiter is insufficient；Meanwhile also solve table steward robot pallet and under open-air atmosphere food delivery and influence user eat mouthfeel the problem of.
Description
Technical field
The invention belongs to robotic technology field, specifically a kind of restaurant service machine based on human-computer interaction technology
People.
Background technology
With the popularization of dining room intelligent management, many dining rooms all carry meal ordering system, after user orders, waiter's meeting
The dining table position of user and menu are input in meal ordering system, meal ordering system Automatic-settlement menu simultaneously prints menu；But
The case where dining room is runed for a long time, the cost of labor increasingly increased have been more than gradually purchase and have safeguarded the expense of intelligent equipment
With again therefore, in some dining peak periods, dining room room attendant cannot be satisfied demand, and in dining spare time, dining room is not necessarily to
Excessive waiter is bound to cause dining room operation cost and increases, therefore, based on table steward if recruiting excessive waiter
Food delivery this link forms intelligent automation management, and with robot food delivery, peak period waiter is insufficient solving dining room dining asks
Topic reduces dining room operation cost, keeps dining room operation more efficient.
Patent document 1：A kind of table steward robot, application number：2013201108654
In above patent document 1, dining room food delivery is realized by table steward robot, table steward can be largely reduced
Quantity is employed, the working strength of table steward is effectively reduced, dining room efficiency of operation is improved, reduces the cost in dining room.But its
It is disadvantageous in that vegetable is placed on pallet and is moved under open-air atmosphere, vegetable rapid heat dissipation is easy to influence mouthfeel and increases dust
Accumulating amount.
Invention content
In order to make up for the deficiencies of the prior art, a kind of restaurant service machine based on human-computer interaction technology proposed by the present invention
People, it is an object of the invention to solve the problems, such as that dining room dining peak period waiter is insufficient.The present invention is eaten by man-machine interactive
Room service robot solves the problems, such as that dining room dining peak period waiter is insufficient in dining room dining peak period food delivery；Meanwhile this
Invention is deposited in user's dining in Chu Caicang, automatic sliding door automatic open-close by the effect in storage dish storehouse and automatic sliding door
And closing, solve the problems, such as table steward robot pallet and under open-air atmosphere food delivery and influence user eat mouthfeel.
The technical solution adopted by the present invention to solve the technical problems is：It is of the present invention a kind of based on human-computer interaction skill
The dining room service robot of art, including head, fuselage, manipulator, automatic sliding door, automatic expansion bracket and chassis, the head
Positioned at fuselage upper end, head is rotatablely connected with fuselage, and head is provided with vision system, auditory system, voice system and center electricity
Brain, vision system pass information to central computer for observing road and identification client's apperance；The central computer is used for
Vision system, auditory system and voice system are controlled, central computer, vision system, auditory system and voice system cooperate
Work realizes that man-machine communication, central controller are additionally operable to control complete machine movement；The vision control system is for observing and identifying
User, and it is transferred to central computer, when next food delivery, man-machine interactive dining room service robot can be by user's appearance again
Match cognization user is to avoid food delivery mistake；The auditory system is passed for receiving user's spoken sounds, and by received information
Pass central computer；The voice system receives the dialogue of central computer feedback and voice broadcast is to user, and language is formed with user
Sound exchanges；The fuselage is disposed with space gradually increased storage dish storehouse from top to bottom, and big vegetable dish places the storage dish of lower end
Storehouse, small vegetable dish place the Chu Caicang of upper end；The manipulator is arranged in Chu Caicang；The automatic sliding door is arranged in storage dish
The Hatch Opening in storehouse, automatic sliding door is for automatically opening Chu Caicang；The upper end of the automatic expansion bracket is hinged with fuselage, automatic telescopic
The lower end of frame is hinged with chassis, and automatic expansion bracket keeps Chu Caicang concordant with dining table for increasing；Positioning is provided on the chassis
Device and wheel one, for driving man-machine interactive dining room service robot to walk, wheel one is controlled the wheel one by central computer；It is described
Locator is for dining table position where location client；Wherein,
The manipulator includes driving gear, driven gear, gear ring one, gear ring two and mechanical arm；The driving gear
Side is engaged with driven gear, and the other side of gear is driven to be engaged with gear ring one, and driving gear is controlled by central computer；It is described from
Moving gear is engaged with gear ring two；There are two the mechanical arm settings, and one of mechanical arm is fixed on gear ring one and follows tooth
One rotation of circle, another mechanical arm are fixed on gear ring two and gear ring two are followed to rotate, and two mechanical arms are rotated in opposite directions by vegetable dish
Release Chu Caicang.When work, the central computer on man-machine interactive dining room service robot head receives order information and identification is believed
Breath, man-machine interactive dining room service robot is according to order information to rear kitchen pick-up, when pick-up, central computer control automatic open-close
Door automatically opens, and waits for that user's dining is put into Chu Caicang by cook, and automatic sliding door is automatically closed, and makes user's dining in heat preservation
State；Later, man-machine interactive dining room service robot is moved to according to dining table location information at specified dining table, automatic expansion bracket
Under the control of central computer, automatic expansion bracket raising keeps corresponding storage dish storehouse concordant with dining table, and automatic sliding door is opened, center
Vegetable dish is released Chu Caicang by computer control machinery hand, and vegetable dish is made to be moved on dining table, and user voluntarily adjusts vegetable dish position.
The mechanical arm includes arm one, arm two and elastic string, and one end and the gear ring one or gear ring two of the arm one are connected, arm
One other end is hinged with arm two, and it is hollow that arm one is internal with arm two；The elastic string is located at two hinged place of arm one and arm, and
One end of elastic string is connected with arm one, and the other end and the arm two of elastic string are connected, elastic string make to stretch for straight line mechanical arm again
Secondary bending；It is both provided with drive shaft in the gear ring one and gear ring two；Drawstring is installed in the drive shaft, drive shaft turns twine
Around pulling drawstring；The other end of the drawstring passes through arm one and arm two and is fixed with two end of arm, and drawstring is for drawing mechanical arm
Directly.When work, sliding tooth wheel rotation, driving gear keeps gear ring one and gear ring two reversely rotated by driven gear, on gear ring one
Arm one follow gear ring one to rotate, the arm one on gear ring two follows gear ring two to rotate, and arm one is rotated with swing arm two, two arms one it
Between angle become smaller, arm one shifts vegetable dish at arm two onto, at this point, drive shaft is controlled by central computer, drive shaft turns, drive shaft
Drawstring is wound, drawstring is made to tighten, drawstring tenses arm one and arm two, so that arm one and arm two is become straight line rear drive shaft and stops turning
It is dynamic；At this point, under the drive of gear ring one and gear ring two, the inferior horn between two arms two reduces, and vegetable dish is released Chu Caicang by arm two,
Vegetable dish is set to be moved on dining table, user voluntarily adjusts vegetable dish position；Vegetable dish is released into Chu Caicang in arm two, drives gear and drive
Moving axis rotates backward, and drawstring unclamps, and under the action of elastic string, bending is shunk again for arm one and arm two.
The automatic sliding door includes motor one, flexible axle, baton round, fixed seat and switching door；The baton round is provided with
Multiple, the center of baton round is provided with cross-hole；There are two the switching door settings, and switching door is transparent glass door, is opened
Door is closed to be slidably connected with fixed seat, switching door is quadrant arcuation, be provided on the lower end inner wall of switching door helicla flute and
Helicla flute is adapted with baton round；The motor one is fixed in fixed seat, and motor one is for driving flexible axle to rotate；The flexible axle
Cross section be crosswise, flexible axle pass through baton round on cross-hole and multiple baton rounds are connected, flexible axle rotation driving modeling
Pellet rotates in helicla flute makes switching door be slided in fixed seat, realizes switching door automatic open-close at Chu Caicang.When work,
After kitchen stores vegetable dish or vegetable dish is sent to specified dining table position after the reception of man-machine interactive dining room service robot, central computer
Motor one is controlled to rotate, motor one is rotated by driven by quill shaft baton round in helicla flute, and switching door is made to be slided in fixed seat,
Switching door is opened or closed.
The automatic expansion bracket includes motor two, hinge bar, roll, pulley and rope one, and the upper surface on the chassis is set
It is equipped with sliding slot；The sliding slot limitation pulley rolls in slot；The hinge bar is provided with multiple, hinge bar cross-articulation two-by-two,
And the lower end of top hinge bar and the upper end of lower section hinge bar are hinged, the hinge bar of the top and fuselage lower end are hinged, bottom
Hinge bar and pulley it is hinged；The motor two is fixed on chassis upper end, and motor two drives roll rotation；The rope one
One end and roll fasten company, restrict one other end and company is fastened in the lower end of articulated shaft；The roll rotation winding rope one makes rope one
It pulls two hinge bars of lower end and two hinge bar angles is made to become smaller.When work, central computer controls motor two and rotates, motor two
Rope one is wound by roll, two hinge bars of one pulling lower end of rope simultaneously make two hinge bar angles become smaller, and pulley is in sliding slot
The angle of interior sliding, hinge bar and vertical direction becomes smaller, and automatic expansion bracket rises automatically, and central computer is observed according to vision system
The dining table top position arrived, makes automatic expansion bracket rise, and keeps Chu Caicang concordant with the holding of the desktop of dining table；In manipulator by vegetable dish
After being moved on dining table, motor two rotates, and rope one becomes loose, and expansion bracket is pressed down under the gravity of fuselage, is stretched automatically
Contracting frame restores original height.
Exhaust column, filter and exhaust fan are additionally provided in the fuselage, one end of the exhaust column is connected to storage dish storehouse,
The other end of exhaust column passes to fuselage lower end, and exhaust column in-line filter and exhaust fan, and exhaust column is for extracting in storage dish storehouse
Hot gas；The filter is fixed with fuselage, and filter is used for the hydrocarbon filter in exhaust column；The exhaust fan is located at filtering
Device lower end, exhaust fan are fixed with fuselage.When work, storage dish storehouse memory is placed with vegetable dish, and vegetable dish emits hot gas, in the effect of exhaust fan
Under, exhaust column is used to extract the hot gas in storage dish storehouse, and hot gas is discharged and is stored up by filter by the hydrocarbon filter in exhaust column, exhaust column
Dish storehouse avoids hot gas in Chu Caicang from excessively influencing user's sight.
Avoidance sensor is provided on the chassis；There are four the avoidance sensor is uniformly distributed on chassis, and avoidance passes
Sensor is located at the edge of chassis upper surface, and information is simultaneously transmitted to head by avoidance sensor cognitive disorders object.When work, avoidance passes
Information is simultaneously transmitted to central computer, avoiding obstacles when central computer control wheel one is walked by sensor cognitive disorders object.
Article identification probe is provided on the side wall in the storage dish storehouse；The article identification probe is for identification in storage dish storehouse
Type of goods, and pass the information on as central computer.When work, the article in article identification probe identification storage dish storehouse, and will
It is central computer that Item Information, which transmits, and article is sent to specified dining table for users to use by central computer according to the type of article.
Beneficial effects of the present invention are as follows：
1. a kind of dining room service robot based on human-computer interaction technology proposed by the present invention, the present invention pass through human-computer interaction
Formula dining room service robot solves the problems, such as that dining room dining peak period waiter is insufficient in dining room dining peak period food delivery；Together
When, the present invention is deposited in user's dining in Chu Caicang, automatic sliding door is automatic by the effect in storage dish storehouse and automatic sliding door
Folding and close, solve table steward robot pallet and under open-air atmosphere food delivery and influence user's mouthfeel of eating and ask
Topic.
2. a kind of dining room service robot based on human-computer interaction technology proposed by the present invention, the present invention by Chu Caicang,
Exhaust column, filter and automatic sliding door cooperate with each other, and user's dining is deposited in storage dish storage, avoid user's dining and revealing
Heat is drastically lost under its environment and falls into the possibility of dust；Meanwhile the cooperating of exhaust column and exhaust fan so that storage dish
A large amount of hot gas will not be saved bit by bit in storehouse so that Chu Caicang gathers droplet, and vegetable dish bottom end is avoided to speckle with droplet and get dining table wet.
3. a kind of dining room service robot based on human-computer interaction technology proposed by the present invention, the present invention by Chu Caicang,
Article identification probe is cooperated with each other with locator, type of goods in article identification probe identification storage dish storehouse, and realization is man-machine
Article is accurately sent to the dining table of designated user by interactive dining room service robot.
4. a kind of dining room service robot based on human-computer interaction technology proposed by the present invention, the present invention by Chu Caicang,
Automatic sliding door, manipulator and automatic expansion bracket cooperate with each other, and man-machine interactive dining room service robot uses user
After meal is sent to, automatic sliding door automatically opens, and automatic expansion bracket makes the desktop of Chu Caicang and dining table maintain an equal level automatically, and manipulator is automatic
User's dining is moved to dining table, the food delivery of man-machine interactive dining room service robot is realized and puts the function of meal, improve people
The intelligence of machine interactive mode dining room service robot.
Description of the drawings
Fig. 1 is the man-machine interactive dining room service robot overall structure diagram of the present invention；
Fig. 2 is the airframe structure schematic diagram of the present invention；
Fig. 3 is the roll structural schematic diagram of the present invention；
Fig. 4 is the baton round structural schematic diagram of the present invention；
Fig. 5 is the A-A sectional views about Fig. 2；
In figure：Head 1, fuselage 2, storage dish storehouse 21, article identification probe 22, exhaust column 23, filter 24, exhaust fan 25,
Manipulator 3, driving gear 31, gear ring 1, gear ring 2 33, mechanical arm 34, arm 1, arm 2 342, elastic string 343, driving
Axis 344, drawstring 345, automatic sliding door 4, motor 1, flexible axle 42, baton round 43, cross-hole 431, fixed seat 44, folding
Door 45, automatic expansion bracket 5, hinge bar 51, motor 2 52, roll 53, rope 1, chassis 6, wheel 1, locator 62, avoidance
Sensor 63.
Specific implementation mode
The man-machine interactive dining room service robot of an embodiment of the present invention is carried out using Fig. 1 to Fig. 5 as described below.
As shown in Figure 1, a kind of dining room service robot based on human-computer interaction technology of the present invention, including head 1,
Fuselage 2, manipulator 3, automatic sliding door 4, automatic expansion bracket 5 and chassis 6, the head 1 are located at 2 upper end of fuselage, head 1 and machine
Body 2 is rotatablely connected, and head 1 is provided with vision system, auditory system, voice system and central computer, and vision system is for observing
Road and identification client's apperance, and pass information to central computer；The central computer is for controlling vision system, sense of hearing system
System and voice system, central computer, vision system, auditory system and voice system, which cooperate with each other, realizes man-machine communication, in
Centre controller is additionally operable to control complete machine movement；The vision control system is transferred to central electricity for observing and identifying user
Brain, when next food delivery, man-machine interactive dining room service robot can by user's appearance again match cognization user to avoid
Food delivery mistake；Received information is passed to central computer by the auditory system for receiving user's spoken sounds；Institute's predicate
System for electrical teaching receives the dialogue of central computer feedback and voice broadcast is to user, and speech exchange is formed with user；The fuselage 2 is from upper
Space gradually increased storage dish storehouse 21 is disposed under, big vegetable dish places the storage dish storehouse 21 of lower end, and small vegetable dish is placed
The storage dish storehouse 21 of upper end；The manipulator 3 is arranged in storage dish storehouse 21；The automatic sliding door 4 is arranged in the storehouse in storage dish storehouse 21
Mouthful, automatic sliding door 4 is for automatically opening storage dish storehouse 21；The upper end of the automatic expansion bracket 5 is hinged with fuselage 2, automatic telescopic
The lower end of frame 5 is hinged with chassis 6, and automatic expansion bracket 5 keeps storage dish storehouse 21 concordant with dining table for increasing；It is arranged on the chassis 6
There are locator 62 and wheel 1, the wheel 1 is for driving man-machine interactive dining room service robot to walk, and wheel 1 is by
Entreat computer control；The locator 62 is for dining table position where location client；Wherein,
As shown in figure 5, the manipulator 3 includes driving gear 31, driven gear, gear ring 1, gear ring 2 33 and machinery
Arm 34；The side of the driving gear 31 is engaged with driven gear, and the other side of driving gear 31 is engaged with gear ring 1, is driven
Gear 31 is controlled by central computer；The driven gear is engaged with gear ring 2 33；There are two the settings of the mechanical arm 34, wherein one
A mechanical arm 34 is fixed on gear ring 1 and gear ring 1 is followed to rotate, another mechanical arm 34 is fixed on gear ring 2 33 simultaneously
Gear ring 2 33 is followed to rotate, vegetable dish is released storage dish storehouse 21 to two mechanical arms 34 by rotation in opposite directions.When work, man-machine interactive dining room
The central computer of service-delivery machine head part 1 receives order information and identification information, man-machine interactive dining room service robot according to
Order information is to rear kitchen pick-up, and when pick-up, central computer control automatic sliding door 4 automatically opens, and waits for that cook puts user's dining
Enter to store up in dish storehouse 21, automatic sliding door 4 is automatically closed, and user's dining is made to be in keeping warm mode；Later, man-machine interactive dining room takes
Business robot is moved to according to dining table location information at specified dining table, and automatic expansion bracket 5 is stretched automatically under the control of central computer
The raising of contracting frame 5 keeps corresponding storage dish storehouse 21 concordant with dining table, and the opening of automatic sliding door 4, central computer control machinery hand 3 is by vegetable dish
Storage dish storehouse 21 is released, so that vegetable dish is moved on dining table, user voluntarily adjusts vegetable dish position.
As shown in figure 5, the mechanical arm 34 includes arm 1, arm 2 342 and elastic string 343, the one of the arm 1
End and gear ring 1 or gear ring 2 33 are connected, and the other end of arm 1 is hinged with arm 2 342, and arm 1 is interior with arm 2 342
Portion is hollow；The elastic string 343 is located at 2 342 hinged place of arm 1 and arm, and one end of elastic string 343 and arm 1 are solid
Even, the other end with arm 2 342 of elastic string 343 are connected, and elastic string 343 makes to stretch to be bent again for the mechanical arm 34 of straight line；Institute
It states in gear ring 1 and gear ring 2 33 and is both provided with drive shaft 344；Drawstring 345, drive shaft are installed in the drive shaft 344
344 rotation windings pull drawstring 345；The other end of the drawstring 345 pass through arm 1 and arm 2 342 and with 2 342 end of arm
Fixed, drawstring 345 is for stretching mechanical arm 34.When work, driving gear 31 rotates, and driving gear 31 is made by driven gear
Gear ring 1 and gear ring 2 33 are reversely rotated, and the arm 1 on gear ring 1 follows gear ring 1 to rotate, the arm on gear ring 2 33
One 341 follow gear ring 2 33 to rotate, and one 341 band swing arm 2 342 of arm rotates, and the angle between two arms 1 becomes smaller, arm one
341 shift vegetable dish at arm 2 342 onto, at this point, drive shaft 344 is controlled by central computer, drive shaft 344 rotates, and drive shaft 344 twines
Around drawstring 345, drawstring 345 is made to tighten, drawstring 345 tenses arm 1 and arm 2 342, and arm 1 and arm 2 342 is made to become
Straight line rear drive shaft 344 stops operating；At this point, under the drive of gear ring 1 and gear ring 2 33, between two arms 2 342 under
Angle reduces, and vegetable dish is released storage dish storehouse 21 by arm 2 342, so that vegetable dish is moved on dining table, user voluntarily adjusts vegetable dish position；
Vegetable dish is released storage dish storehouse 21 by arm 2 342, and gear 31 and drive shaft 344 is driven to rotate backward, and drawstring 345 unclamps, in elastic string
Under the action of 343, bending is shunk again for arm 1 and arm 2 342.
As shown in Figure 4 and Figure 5, the automatic sliding door 4 includes motor 1, flexible axle 42, baton round 43,44 and of fixed seat
Switching door 45；The baton round 43 is provided with multiple, and the center of baton round 43 is provided with cross-hole 431；The switching door 45
There are two settings, and switching door 45 is transparent glass door, and switching door 45 is slidably connected with fixed seat 44, switching door 45 for four/
One arc-shaped is provided with helicla flute on the lower end inner wall of switching door 45 and helicla flute is adapted with baton round 43；The motor one
41 are fixed in fixed seat 44, and motor 1 is for driving flexible axle 42 to rotate；The cross section of the flexible axle 42 is crosswise, flexible axle
42 pass through the cross-hole 431 on baton round 43 and multiple baton rounds 43 are connected, and the rotation driving baton round 43 of flexible axle 42 is in spiral shell
Rotation makes switching door 45 be slided in fixed seat 44 in spin slot, realizes the automatic open-close at storage dish storehouse 21 of switching door 45.When work,
After kitchen stores vegetable dish or vegetable dish is sent to specified dining table position after the reception of man-machine interactive dining room service robot, central computer
It controls motor 1 to rotate, motor 1 drives baton round 43 to rotate in helicla flute by flexible axle 42, makes switching door 45 solid
It is slided in reservation 44, switching door 45 is opened or closed.
As shown in figures 1 and 3, the automatic expansion bracket 5 includes motor 2 52, hinge bar 51, roll 53, pulley and rope
One 54, the upper surface on the chassis 6 is provided with sliding slot；The sliding slot limitation pulley rolls in slot；The hinge bar 51 is arranged
There is multiple, the cross-articulation two-by-two of hinge bar 51, and the lower end of top hinge bar 51 and the upper end of lower section hinge bar 51 are hinged, it is most upper
The hinge bar 51 at end is hinged with 2 lower end of fuselage, and the lowermost hinge bar 51 is hinged with pulley；The motor 2 52 is fixed on chassis
6 upper ends, and motor 2 52 drives roll 53 to rotate；One end and 53 companys of fastening of roll of the rope 1, restrict 1 it is another
Company is fastened in end and the lower end of articulated shaft；The roll 53 rotates two hinge bars 51 that winding rope 1 makes rope 1 pull lower end
And two hinge bars, 51 angle is made to become smaller.When work, central computer controls motor 2 52 and rotates, and motor 2 52 will by roll 53
It restricts one 54 windings, two hinge bars 51 of one 54 pulling lower ends of rope simultaneously make two hinge bars, 51 angle become smaller, and pulley is sliding in sliding slot
Dynamic, hinge bar 51 and the angle of vertical direction become smaller, and automatic expansion bracket 5 rises automatically, and central computer is observed according to vision system
The dining table top position arrived makes automatic expansion bracket 5 rise, keeps storage dish storehouse 21 concordant with the holding of the desktop of dining table；It is incited somebody to action in manipulator 3
After vegetable dish is moved on dining table, motor 2 52 rotates, and rope 1 becomes loose, and expansion bracket is under the gravity of fuselage 2 by under
Pressure, automatic expansion bracket 5 restore original height.
As shown in Fig. 2, being additionally provided with exhaust column 23, filter 24 and exhaust fan 25, the exhaust column 23 in the fuselage 2
One end be connected to storage dish storehouse 21, the other end of exhaust column 23 passes to 2 lower end of fuselage, and 23 in-line filter 24 of exhaust column and pumping
Wind turbine 25, exhaust column 23 are used to extract the hot gas in storage dish storehouse 21；The filter 24 is fixed with fuselage 2, and filter 24 is used for
By the hydrocarbon filter in exhaust column 23；The exhaust fan 25 is located at 24 lower end of filter, and exhaust fan 25 is fixed with fuselage 2.Work
When, 21 memory of storage dish storehouse is placed with vegetable dish, and vegetable dish emits hot gas, and under the action of exhaust fan 25, exhaust column 23 is for extracting storage dish
Hot gas is discharged storage dish storehouse 21, avoids storing up by the hydrocarbon filter in exhaust column 23, exhaust column 23 by the hot gas in storehouse 21, filter 24
Hot gas excessively influences user's sight in dish storehouse 21.
As shown in Figure 1, being provided with avoidance sensor 63 on the chassis 6；The avoidance sensor 63 is uniformly distributed on chassis 6
There are four, and avoidance sensor 63 is located at the edge of 6 upper surface of chassis, 63 cognitive disorders object of avoidance sensor simultaneously passes information
To head 1.When work, information is simultaneously transmitted to central computer, central computer control wheel 1 by 63 cognitive disorders object of avoidance sensor
Avoiding obstacles when walking.
As depicted in figs. 1 and 2, it is provided with article identification probe 22 on the side wall in the storage dish storehouse 21；The article identification
Probe 22 stores up the type of goods in dish storehouse 21 for identification, and passes the information on as central computer.When work, article identification probe
Article in 22 identification storage dish storehouses 21, and it is central computer that Item Information, which transmitted, central computer is according to the type of article by object
Product are sent to specified dining table for users to use.
Specifically used mode is as follows：
When work, the central computer on man-machine interactive dining room service robot head 1 receives order information and identification information,
Man-machine interactive dining room service robot is according to order information to rear kitchen pick-up, and when pick-up, central computer controls one 41 turns of motor
Dynamic, motor 1 drives baton round 43 to be rotated in helicla flute by flexible axle 42, so that switching door 45 is slided in fixed seat 44, opens
It closes door 45 to be opened, waits for that user's dining is put into storage dish storehouse 21 by cook, automatic sliding door 4 is automatically closed, and makes at user's dining
In keeping warm mode；Article in 22 identification storage dish storehouse 21 of article identification probe, and it is central computer, center that Item Information, which is transmitted,
Article is sent to specified dining table for users to use by computer according to the type of article；Because 21 memory of storage dish storehouse is placed with vegetable dish, vegetable dish
Hot gas is emitted, so, under the action of exhaust fan 25, exhaust column 23 is used to extract the hot gas in storage dish storehouse 21, and filter 24 will
Storage dish storehouse 21 is discharged in hot gas by the hydrocarbon filter in exhaust column 23, exhaust column 23, and hot gas in storage dish storehouse 21 is avoided excessively to influence
User's sight；Later, man-machine interactive dining room service robot is moved to according to dining table location information at specified dining table, man-machine
During interactive dining room service robot walking, information is simultaneously transmitted to central computer by 63 cognitive disorders object of avoidance sensor,
Avoiding obstacles when central computer control wheel 1 is walked；It is specified at dining table when man-machine interactive dining room service robot reaches
Afterwards, for automatic expansion bracket 5 under the control of central computer, the raising of automatic expansion bracket 5 keeps corresponding storage dish storehouse 21 concordant with dining table, in
Computer control motor 1 is entreated to rotate, motor 1 drives baton round 43 to be rotated in helicla flute by flexible axle 42, makes switching door
45 slide in fixed seat 44, and switching door 45 is opened, and vegetable dish is released storage dish storehouse 21 by central computer control machinery hand 3, makes dish
Disk is moved on dining table, and user voluntarily adjusts vegetable dish position.
Wherein, when manipulator 3 works, driving gear 31 rotates, and driving gear 31 makes one 32 He of gear ring by driven gear
Gear ring 2 33 is reversely rotated, and the arm 1 on gear ring 1 follows gear ring 1 to rotate, and the arm 1 on gear ring 2 33 follows
Gear ring 2 33 rotates, and one 341 band swing arm 2 342 of arm rotates, and the angle between two arms 1 becomes smaller, and arm 1 pushes away vegetable dish
To at arm 2 342, at this point, drive shaft 344 is controlled by central computer, drive shaft 344 rotates, and drive shaft 344 winds drawstring 345,
Drawstring 345 is set to tighten, drawstring 345 tenses arm 1 and arm 2 342, is driven after so that arm 1 and arm 2 342 is become straight line
Axis 344 stops operating；At this point, under the drive of gear ring 1 and gear ring 2 33, the inferior horn between two arms 2 342 reduces, arm
Vegetable dish is released storage dish storehouse 21 by 2 342, so that vegetable dish is moved on dining table, user voluntarily adjusts vegetable dish position；It is incited somebody to action in arm 2 342
Vegetable dish releases storage dish storehouse 21, and gear 31 and drive shaft 344 is driven to rotate backward, and drawstring 345 unclamps, in the effect of elastic string 343
Under, bending is shunk again for arm 1 and arm 2 342；
When automatic expansion bracket 5 works, central computer controls motor 2 52 and rotates, and motor 2 52 will restrict one by roll 53
54 windings, two hinge bars 51 of one 54 pulling lower end of rope simultaneously make two hinge bars, 51 angle become smaller, and pulley slides in sliding slot, hinge
Extension bar 51 and the angle of vertical direction become smaller, and automatic expansion bracket 5 rises automatically, the meal that central computer is observed according to vision system
Table desktop position makes automatic expansion bracket 5 rise, keeps storage dish storehouse 21 concordant with the holding of the desktop of dining table；Vegetable dish is moved in manipulator 3
After moving on dining table, motor 2 52 rotates, and rope 1 becomes loose, and expansion bracket is pressed down under the gravity of fuselage 2, automatically
Expansion bracket 5 restores original height.
More than, it is illustrated about one embodiment of the present invention, but the present invention is not limited to the above embodiments, not
It can be made various changes in the range of disengaging present subject matter.
(A) in the above-described embodiment, multiple storage dish storehouses gradually increase from top to bottom, but not limited to this, it can also keep
Each storage dish storehouse size is impartial.
Industrial applicibility
Solves meal by man-machine interactive dining room service robot in dining room dining peak period food delivery according to the present invention
The problem of Room dining peak period waiter deficiency；Meanwhile also solving table steward robot pallet and under open-air atmosphere
Food delivery and influence user eat mouthfeel the problem of；Therefore the man-machine interactive dining room service robot is in robotic technology field
Useful.
Claims (7)
1. a kind of dining room service robot based on human-computer interaction technology, including head (1), fuselage (2), manipulator (3), automatic
Switching door (4), automatic expansion bracket (5) and chassis (6), the head (1) are located at fuselage (2) upper end, head (1) and fuselage (2)
Rotation connection, head (1) are provided with vision system, auditory system, voice system and central computer, and vision system is for observing
Road and identification client's apperance, and pass information to central computer；The central computer is for controlling vision system, auditory system
And voice system, central computer, vision system, auditory system and voice system, which cooperate with each other, realizes man-machine communication, center
Controller is additionally operable to control complete machine movement；It is characterized in that：The fuselage (2) is disposed with space and gradually increases from top to bottom
Chu Caicang (21)；The manipulator (3) is arranged in Chu Caicang (21)；The automatic sliding door (4) is arranged in Chu Caicang
(21) Hatch Opening, automatic sliding door (4) is for automatically opening Chu Caicang (21)；The upper end of the automatic expansion bracket (5) and fuselage
(2) hinged, the lower end and chassis (6) of automatic expansion bracket (5) are hinged, automatic expansion bracket (5) for increase make Chu Caicang (21) with
Dining table is concordant；One (61) of locator (62) and wheel are provided on the chassis (6), one (61) of the wheel are for driving human-computer interaction
Formula dining room service robot is walked；The locator (62) is for dining table position where location client；Wherein,
The manipulator (3) includes driving gear (31), driven gear, gear ring one (32), gear ring two (33) and mechanical arm (34)；
The side of the driving gear (31) is engaged with driven gear, and the other side of driving gear (31) is engaged with gear ring one (32)；Institute
Driven gear is stated to engage with gear ring two (33)；There are two mechanical arm (34) settings, and one of mechanical arm (34) is fixed on
On gear ring one (32) and gear ring one (32) is followed to rotate, another mechanical arm (34) is fixed on gear ring two (33) and follows gear ring
Two (33) rotate, and vegetable dish is released Chu Caicang (21) to two mechanical arms (34) by rotation in opposite directions.
2. a kind of dining room service robot based on human-computer interaction technology according to claim 1, it is characterised in that：It is described
Mechanical arm (34) includes arm one (341), arm two (342) and elastic string (343), one end and the gear ring one of the arm one (341)
(32) or gear ring two (33) is connected, and the other end of arm one (341) is hinged with arm two (342), and arm one (341) is equal with arm two (342)
Inside is hollow；The elastic string (343) is located at arm one (341) and arm two (342) hinged place, and one end of elastic string (343)
It is connected with arm one (341), the other end and the arm two (342) of elastic string (343) are connected, and elastic string (343) makes to stretch as straight line
Mechanical arm (34) is bent again；It is both provided with drive shaft (344) in the gear ring one (32) and gear ring two (33)；The drive shaft
(344) drawstring (345) is installed on, drive shaft (344) rotation winding pulls drawstring (345)；The other end of the drawstring (345)
It is fixed across arm one (341) and arm two (342) and with arm two (342) end, drawstring (345) is for stretching mechanical arm (34).
3. a kind of dining room service robot based on human-computer interaction technology according to claim 1, it is characterised in that：It is described
Automatic sliding door (4) includes motor one (41), flexible axle (42), baton round (43), fixed seat (44) and switching door (45)；The modeling
Pellet (43) be provided with it is multiple, switching door (45) be transparent glass door, the center of baton round (43) is provided with cross-hole
(431)；There are two switching door (45) settings, and switching door (45) is slidably connected with fixed seat (44), and switching door (45) is four
/ mono- arc-shaped is provided with helicla flute on the lower end inner wall of switching door (45) and helicla flute is adapted with baton round (43)；Institute
It states motor one (41) to be fixed in fixed seat (44), motor one (41) is for driving flexible axle (42) to rotate；The flexible axle (42)
Cross section is crosswise, and flexible axle (42) passes through the cross-hole (431) on baton round (43) and multiple baton rounds (43) connect,
Flexible axle (42) rotation driving baton round (43) rotation in helicla flute makes switching door (45) be slided in fixed seat (44), and realization is opened
Close door (45) automatic open-close at Chu Caicang (21).
4. a kind of dining room service robot based on human-computer interaction technology according to claim 1, it is characterised in that：It is described
Automatic expansion bracket (5) includes hinge bar (51), motor two (52), one (54) of roll (53), pulley and rope, the chassis (6)
Upper surface be provided with sliding slot；The sliding slot limitation pulley rolls in slot；The hinge bar (51) is provided with multiple, hinge bar
(51) cross-articulation two-by-two, and the lower end of top hinge bar (51) and the upper end of lower section hinge bar (51) are hinged, the hinge of the top
Extension bar (51) and fuselage (2) lower end are hinged, and the lowermost hinge bar (51) is hinged with pulley；The motor two (52) is fixed on bottom
Disk (6) upper end, and motor two (52) driving roll (53) rotates；One end of one (54) of the rope and roll (53) company of fastening,
Company is fastened in the other end of one (54) of rope and the lower end of articulated shaft；Roll (53) the rotation winding rope one (54) makes rope one (54) draw
Two hinge bars (51) of dynamic lower end simultaneously make two hinge bars (51) angle become smaller.
5. a kind of dining room service robot based on human-computer interaction technology according to claim 1, it is characterised in that：It is described
Exhaust column (23), filter (24) and exhaust fan (25), one end and the storage dish of the exhaust column (23) are additionally provided in fuselage (2)
Storehouse (21) is connected to, and the other end of exhaust column (23) passes to fuselage (2) lower end, and exhaust column (23) in-line filter (24) and exhausting
Machine (25), exhaust column (23) are used to extract the hot gas in Chu Caicang (21)；The filter (24) is fixed with fuselage (2), filtering
Device (24) is used for the hydrocarbon filter in exhaust column (23)；The exhaust fan (25) is located at filter (24) lower end, exhaust fan
(25) fixed with fuselage (2).
6. a kind of dining room service robot based on human-computer interaction technology according to claim 1, it is characterised in that：It is described
Avoidance sensor (63) is provided on chassis (6)；There are four the avoidance sensor (63) is uniformly distributed on chassis (6), and avoidance
Sensor (63) is located at the edge of chassis (6) upper surface, and information is simultaneously transmitted to head by avoidance sensor (63) cognitive disorders object
(1)。
7. a kind of dining room service robot based on human-computer interaction technology according to claim 1, it is characterised in that：It is described
Article identification probe (22) is provided on the side wall of Chu Caicang (21)；The article identification probe (22) stores up dish storehouse for identification
(21) type of goods in, and pass the information on as central computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810872612.8A CN108673532B (en) | 2018-08-02 | 2018-08-02 | Restaurant service robot based on human-computer interaction technology |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810872612.8A CN108673532B (en) | 2018-08-02 | 2018-08-02 | Restaurant service robot based on human-computer interaction technology |
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| Publication Number | Publication Date |
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| CN108673532A true CN108673532A (en) | 2018-10-19 |
| CN108673532B CN108673532B (en) | 2021-01-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN112207794A (en) * | 2020-10-26 | 2021-01-12 | 北京洛必德科技有限公司 | Hotel meal delivery robot and working method thereof |
| CN112659107A (en) * | 2020-12-31 | 2021-04-16 | 孔凡荣 | Trackless automatic meal delivery robot and restaurant self-service system |
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|---|---|
| CN108673532B (en) | 2021-01-05 |
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