CN108995805B - Self-service dining method for unmanned restaurant - Google Patents
Self-service dining method for unmanned restaurant Download PDFInfo
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- CN108995805B CN108995805B CN201810873436.XA CN201810873436A CN108995805B CN 108995805 B CN108995805 B CN 108995805B CN 201810873436 A CN201810873436 A CN 201810873436A CN 108995805 B CN108995805 B CN 108995805B
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- unmanned aerial
- aerial vehicle
- dinner plate
- strip
- clamping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
- G06Q50/10—Services
- G06Q50/12—Hotels or restaurants
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Abstract
The invention belongs to the technical field of restaurant service, in particular to a self-service dining method of an unmanned restaurant, wherein a distribution device in the method comprises an unmanned aerial vehicle, a controller, a damping module, a mounting plate, a supporting plate, a double-shaft motor, a ball screw, a sliding block, a polished rod and a clamping jaw, wherein two rotating shafts of the double-shaft motor are fixedly connected with the ends of the two ball screws in different rotating directions respectively; the lower end of the sliding block is connected with the polished rod in a sliding manner, and the upper end of the sliding block is connected with the ball screw through a screw nut pair; the lower end of the sliding block is fixedly connected with the upper end of the clamping jaw; the clamping jaws are used for clamping the dinner plate; according to the invention, the shock-absorbing sleeves are arranged between the bottom plate and the mounting plate of the unmanned aerial vehicle, and the springs are arranged in the central holes of the shock-absorbing sleeves, so that the shaking of the unmanned aerial vehicle during flying is prevented from being transmitted to the mounting plate, and further, the food in the dinner plate is prevented from being scattered in the transportation process; the ball screws in different rotation directions are driven to rotate by the double-shaft motor, so that the clamping jaws are driven to stably clamp the dinner plate.
Description
Technical Field
The invention belongs to the technical field of restaurant service, and particularly relates to a self-service dining method for an unmanned restaurant.
Background
Unmanned aerial vehicles are a long-standing flying apparatus, and the domestic unmanned aerial vehicle market has been developed for over 30 years, and gradually expands from the initial military field to the civil field. At present, the market of domestic consumption unmanned aerial vehicles is hot, the acceptance and the demand of common people on the unmanned aerial vehicles gradually rise, and new requirements are provided for the performance of the unmanned aerial vehicles.
In recent years, research and development and investment on unmanned aerial vehicles are increased in all countries, the technology and performance of the unmanned aerial vehicles are greatly improved, the application range of the unmanned aerial vehicles is expanded, the unmanned aerial vehicles can be used for self-shooting, goods delivery, aerial photography and goods delivery, but the unmanned aerial vehicles are outdoor, the indoor application is rare, at present, some dining rooms use the unmanned aerial vehicles for food delivery, the special servers fly under the control of infrared sensing systems installed in the dining rooms, and fly over from the tops of customers according to flight routes set by computers for food delivery, the machine servers are high in working efficiency, safe and reliable, and therefore a foundation is laid for the birth of the unmanned dining rooms.
However, current food delivery unmanned aerial vehicle has some problems when facilitating, if customer gets meal slower, unmanned aerial vehicle need be long-time in front of the dining table and stagnates, can't wait for the customer under the shutdown state and get meal, can cause very big inconvenience: on one hand, the power is consumed, the weight of the meal delivery unmanned aerial vehicle needs to be reduced in order to meet the requirement of carrying food, the capacity of a generally designed battery is small, the charging times of the unmanned aerial vehicle are increased due to power waste, and the utilization rate of the unmanned aerial vehicle is reduced; on the other hand, when the unmanned aerial vehicle flies in the air, the flying height is parallel to the dining table, the flying height is lower, the flow rate of people in a restaurant is larger, the blades are easy to hurt customers, and the airflow generated by the blades can influence the dining experience of the customers; moreover, when a customer takes a meal, the bearing weight and the gravity center of the unmanned aerial vehicle change suddenly, which may cause the unmanned aerial vehicle to have unstable flight state and food spill; many problems have limited the development of unmanned restaurants and industry related personnel have continued to make efforts.
Disclosure of Invention
In order to make up the defects of the prior art, the invention provides a self-help dining method of an unmanned dining room, wherein a delivery device in the method is provided with a group of damping sleeves between a bottom plate of an unmanned aerial vehicle and a mounting plate, and a spring is arranged in a central hole of each damping sleeve, so that the shaking of the unmanned aerial vehicle during flying is prevented from being transmitted to the mounting plate, and further, the food in a dinner plate is prevented from being scattered in the transportation process; the ball screws with different rotation directions are driven to rotate by the double-shaft motor, so that the clamping jaws are driven to stably clamp the dinner plate; the dinner plate is conveyed to the dinner plate placing point beside the dining table, the double-shaft motor drives the clamping jaws to put down the dinner plate, and power consumption generated by the unmanned aerial vehicle when the dinner plate is waited to be taken is reduced.
The technical scheme adopted by the invention for solving the technical problems is as follows: the invention relates to a self-service dining method of an unmanned restaurant, which comprises the following steps:
the method comprises the following steps: a customer orders on a touch screen beside a dining table;
step two: after receiving the ordering list in the step one, the robot in the kitchen starts to make food;
step three: the robot loads the food prepared in the step two on a distribution device, and the distribution device conveys the food to the dining table of a customer;
step four: after receiving the food in the third step, the customer starts to eat, and after eating, the customer uses the mobile phone to pay the meal fee;
the distribution device comprises an unmanned aerial vehicle, and the unmanned aerial vehicle is a multi-rotor unmanned aerial vehicle; the unmanned aerial vehicle is characterized by further comprising a controller, a damping module, a mounting plate, a supporting plate, a double-shaft motor, a ball screw, a sliding block, a polished rod and a clamping jaw, wherein the controller is arranged at the upper end of the unmanned aerial vehicle; the controller is used for realizing communication between the unmanned aerial vehicle and external equipment; the unmanned aerial vehicle is connected with the mounting plate through the damping module; the damping module is used for preventing the vibration of the unmanned aerial vehicle during flying from being transmitted to the mounting plate; the middle part of the bottom surface of the mounting plate is fixedly connected with a double-shaft motor; one rotating shaft of the double-shaft motor is fixedly connected with the end of the ball screw which rotates forwards, and the other rotating shaft of the double-shaft motor is fixedly connected with the end of the ball screw which rotates backwards; the other end of the ball screw is respectively and rotatably arranged in the middle of the supporting plates at the left side and the right side, and two polished rods arranged in parallel are fixedly connected between the two supporting plates; the lower end of the sliding block is connected with the polished rod in a sliding manner, the upper end of the sliding block is connected with a ball screw through a screw nut pair, the sliding block with a forward thread is arranged on the forward-rotating ball screw, and the sliding block with a reverse thread is arranged on the reverse-rotating ball screw; the lower end of the sliding block is fixedly connected with the upper end of the clamping jaw; the clamping jaws are used for clamping the dinner plate; during operation, after the controller received the food delivery signal of external equipment transmission, the slider that biax motor drove biax motor both sides through the different ball that revolve to was close to, and then drives the jack catch on the slider and carries out the centre gripping dinner plate, and the centre gripping is stable after, and unmanned aerial vehicle starts to send the dinner plate to appointed position according to appointed flight route, finally realize using unmanned aerial vehicle to send the meal.
Preferably, the damping module comprises a damping sleeve and a spring, and a group of damping sleeves are arranged between the bottom plate and the mounting plate of the unmanned aerial vehicle; the damping sleeve is made of elastic materials, a group of cylindrical through holes are formed in the cylindrical surface of the damping sleeve, and a spring is arranged in the central hole of the damping sleeve; the spring is used for connecting a bottom plate and a mounting plate of the unmanned aerial vehicle; the during operation, when unmanned aerial vehicle upwards accelerated, the spring was stretched, and the spring has absorbed the impact force that unmanned aerial vehicle upward movement produced, and when the spring rebounded, unmanned aerial vehicle's bottom plate and mounting panel extrusion shock attenuation cover through the reaction force of shock attenuation cover absorption spring, and then have guaranteed that the food in the dinner plate can not spill in the transportation.
Preferably, an elastic rubber strip is supported on the arc corners at the lower ends of the claws; two ends of the elastic rubber strip are hung on the arc corners of the clamping jaws through the inverse buckles; the arc corner at the lower end of the clamping jaw has certain elasticity; when the clamping jaw is driven by the motor to clamp the dinner plate, the elastic rubber strip is extruded and deformed after contacting with the outer wall of the dinner plate, the elastic rubber strip is completely attached to the outer wall of the dinner plate, and when a force sensor arranged in the clamping jaw reaches a set value, the double-shaft motor stops rotating and is locked; the jack catch tip sets up the elastic adhesive tape on the one hand and makes jack catch and dinner plate laminate completely, and then has guaranteed the reliability of centre gripping, and on the other hand passes through the elastic deformation of elastic adhesive tape and jack catch lower extreme circular arc angle, can realize the different size dinner plate of centre gripping, and then has widened the application range of jack catch.
Preferably, a group of vertical V-shaped grooves is arranged on the clamping surface of the elastic rubber strip; during operation, set up a V-arrangement groove on the clamping face of elasticity adhesive tape, make the elasticity adhesive tape warp more easily on the one hand, guaranteed that elasticity adhesive tape and dinner plate can laminate completely, on the other hand V-arrangement groove helps the heat dissipation, and then improves the life of elasticity adhesive tape.
Preferably, a driving block is arranged at the lower end of the clamping jaw close to the edge of the dinner plate; one end of the driving block is hinged to the clamping jaw, a torsion spring is arranged at the hinged position of the driving block, the other end of the driving block can be in contact with the side wall of the dinner plate, a pressing block is arranged above the driving block, and the driving block and the pressing block are in meshing transmission through a section of gear teeth; one end of the pressing block is hinged to the clamping jaw, and the other end of the pressing block can contact the inner wall of the dinner plate; the during operation makes the jack catch carry out the centre gripping to the dinner plate through motor drive, and the cambered surface of the border extrusion drive block upper end of dinner plate makes the drive block swing around articulated department, and then drives the compact heap through the meshing of the teeth of a cogwheel and swing simultaneously, and then realizes carrying out the centre gripping to the border of dinner plate, and the centre gripping process of drive block and compact heap is realized at the in-process of biax motor drive jack catch centre gripping dinner plate lateral wall, therefore the centre gripping is efficient, and simple structure, stability.
Preferably, a group of strip-shaped bulges are arranged on the binding surface of the driving block and the dinner plate; the cross section of each strip-shaped bulge is semi-elliptical, the shape of the strip-shaped bulge is larger at the position, which is closer to the hinge joint of the driving block, and the strip-shaped bulge is made of elastic material; the during operation, dinner plate extrusion drive block, drive block swing around articulated department, and the protruding dinner plate of extrusion of strip on the drive block, strip arch are extruded and are out of shape, realize the centre gripping of dinner plate, and the strip arch of gradual change has guaranteed the effective laminating with the dinner plate, and fine radiating effect can be guaranteed again to the interval between the strip arch simultaneously, and then has improved the bellied life of strip.
Preferably, one side of the strip-shaped bulge, which is close to the driving block, is provided with a group of second-number V-shaped grooves; when the device works, one side of each strip-shaped bulge is provided with a group of second-number V-shaped grooves, so that the internal stress of the strip-shaped bulges after bending is reduced, and the service life of the strip-shaped bulges is prolonged.
The invention has the following beneficial effects:
1. according to the self-help dining method of the unmanned restaurant, the distribution device in the method is provided with the group of damping sleeves between the bottom plate of the unmanned aerial vehicle and the mounting plate, and the springs are arranged in the center holes of the damping sleeves, so that the shaking of the unmanned aerial vehicle during flying is prevented from being transmitted to the mounting plate, and further, the food in the dinner plate is prevented from being scattered in the transportation process; the ball screws in different rotation directions are driven to rotate by the double-shaft motor, so that the clamping jaws are driven to stably clamp the dinner plate.
2. According to the self-help dining method for the unmanned dining room, the elastic rubber strip is arranged on the arc corner at the lower end of the clamping jaw, so that the clamping jaw and the dinner plate can be completely attached to each other to ensure the clamping reliability, and the elastic rubber strip and the elastic deformation of the arc corner at the lower end of the clamping jaw can clamp the dinner plates with different sizes to widen the use range of the clamping jaw.
3. According to the self-help dining method for the unmanned restaurant, the delivery device in the method is provided with the driving block at the position, close to the edge of the dinner plate, of the lower end of the clamping jaw, the pressing block is arranged above the driving block, clamping of the edge of the dinner plate is achieved, and meanwhile the clamping process of the driving block and the pressing block is achieved in the process that the clamping jaw is driven by the double-shaft motor to clamp the side wall of the dinner plate, so that the clamping efficiency is high, and the structure is simple and stable.
4. According to the self-help dining method of the unmanned dining room, the delivery device in the method is provided with the group of strip-shaped bulges on the binding surface of the driving block and the dinner plate, so that the dinner plate is clamped, the gradually-changed strip-shaped bulges ensure effective binding with the dinner plate, meanwhile, the intervals among the strip-shaped bulges can ensure good heat dissipation effect, and the service life of the strip-shaped bulges is prolonged.
Drawings
The invention will be further explained with reference to the drawings.
FIG. 1 is a flow chart of a method of the present invention;
FIG. 2 is a front view of the dispensing device of the present invention;
FIG. 3 is a schematic structural view of the shock-absorbing housing of the present invention;
FIG. 4 is a cross-sectional view taken at A-A of FIG. 2;
FIG. 5 is an enlarged view at B in FIG. 2;
in the figure: unmanned aerial vehicle 1, controller 2, shock-absorbing module 3, shock-absorbing sleeve 31, mounting panel 4, backup pad 41, double-shaft motor 5, ball 6, slider 7, polished rod 8, jack catch 9, circular arc angle 91, elasticity adhesive tape 92, a V-shaped groove 921, drive block 93, strip arch 931, No. two V-shaped grooves 932, compact heap 94.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
As shown in fig. 1 to 5, the method for self-help dining in an unmanned restaurant of the present invention includes the following steps:
the method comprises the following steps: a customer orders on a touch screen beside a dining table;
step two: after receiving the ordering list in the step one, the robot in the kitchen starts to make food;
step three: the robot loads the food prepared in the step two on a distribution device, and the distribution device conveys the food to the dining table of a customer;
step four: after receiving the food in the third step, the customer starts to eat, and after eating, the customer uses the mobile phone to pay the meal fee;
the distribution device comprises an unmanned aerial vehicle 1, and the unmanned aerial vehicle 1 is a multi-rotor unmanned aerial vehicle; the unmanned aerial vehicle is characterized by further comprising a controller 2, a damping module 3, a mounting plate 4, a supporting plate 41, a double-shaft motor 5, a ball screw 6, a sliding block 7, a polished rod 8 and a clamping jaw 9, wherein the controller 2 is arranged at the upper end of the unmanned aerial vehicle 1; the controller 2 is used for realizing communication between the unmanned aerial vehicle 1 and external equipment; the unmanned aerial vehicle 1 is connected with the mounting plate 4 through the damping module 3; the damping module 3 is used for preventing the vibration of the unmanned aerial vehicle 1 during flying from being transmitted to the mounting plate 4; the middle part of the bottom surface of the mounting plate 4 is fixedly connected with a double-shaft motor 5; one rotating shaft of the double-shaft motor 5 is fixedly connected with the end of the ball screw 6 which rotates forwards, and the other rotating shaft of the double-shaft motor 5 is fixedly connected with the end of the ball screw 6 which rotates backwards; the other end of the ball screw 6 is respectively and rotatably arranged in the middle of the supporting plates 41 at the left side and the right side, and two polished rods 8 arranged in parallel are fixedly connected between the two supporting plates 41; the lower end of the sliding block 7 is connected with a polished rod 8 in a sliding manner, the upper end of the sliding block 7 is connected with a ball screw 6 through a screw-nut pair, the sliding block 7 with a forward thread is arranged on the forward-rotating ball screw 6, and the sliding block 7 with a reverse thread is arranged on the reverse-rotating ball screw 6; the lower end of the sliding block 7 is fixedly connected with the upper end of the clamping jaw 9; the clamping claws 9 are used for clamping the dinner plate; during operation, after controller 2 received the food delivery signal of external equipment transmission, biax motor 5 drove the slider 7 of biax motor 5 both sides through the ball 6 of different turning and is close to, and then drives jack catch 9 on the slider 7 and carries out the centre gripping dinner plate, and the centre gripping is stable after, and unmanned aerial vehicle 1 starts to according to appointed flight route with the dinner plate send appointed position, finally realize using unmanned aerial vehicle 1 to send the meal.
As an embodiment of the present invention, the damping module 3 includes a damping sleeve 31 and a spring, and a group of damping sleeves 31 is disposed between the bottom plate and the mounting plate 4 of the unmanned aerial vehicle 1; the damping sleeve 31 is made of elastic materials, a group of cylindrical through holes are formed in the cylindrical surface of the damping sleeve 31, and a spring is arranged in the central hole of the damping sleeve 31; the spring is used for connecting a bottom plate of the unmanned aerial vehicle 1 and the mounting plate 4; the during operation, when unmanned aerial vehicle 1 upwards accelerates, the spring is stretched, and the spring has absorbed the impact force that unmanned aerial vehicle 1 upward movement produced, and when the spring rebounds, unmanned aerial vehicle 1's bottom plate and 4 extrusion shock sleeves 31 of mounting panel, through the reaction force of shock sleeves 31 absorption spring, and then guaranteed that the food in the dinner plate can not spill in the transportation.
As an embodiment of the present invention, an elastic rubber strip 92 is supported on the arc corner 91 at the lower end of the claw 9; the two ends of the elastic rubber strip 92 are hung on the arc corners 91 of the claws 9 through back-off; the arc corners 91 at the lower ends of the claws 9 have certain elasticity; when the automatic dinner plate clamping device works, the clamping jaw 9 clamps a dinner plate through motor driving, the elastic rubber strip 92 is extruded and deformed after contacting with the outer wall of the dinner plate, the elastic rubber strip 92 is completely attached to the outer wall of the dinner plate, and when a force sensor arranged in the clamping jaw 9 reaches a set value, the double-shaft motor 5 stops rotating and is locked; the jack catch 9 tip sets up elasticity adhesive tape 92 and makes jack catch 9 and dinner plate laminate completely on the one hand, and then has guaranteed the reliability of centre gripping, and on the other hand passes through the elastic deformation of elasticity adhesive tape 92 and jack catch 9 lower extreme circular arc angle 91, can realize the different size dinner plate of centre gripping, and then has widened the application range of jack catch 9.
As an embodiment of the present invention, a group of vertical first V-shaped grooves 921 is disposed on the clamping surface of the elastic rubber strip 92; during operation, set up a V-arrangement groove 921 on the clamping face of elasticity adhesive tape 92, make elasticity adhesive tape 92 warp more easily on the one hand, guaranteed that elasticity adhesive tape 92 can laminate completely with the dinner plate, on the other hand V-arrangement groove 921 helps the heat dissipation, and then improves elasticity adhesive tape 92's life.
As an embodiment of the invention, a driving block 93 is arranged at the lower end of the claw 9 close to the edge of the dinner plate; one end of the driving block 93 is hinged to the jaw 9, a torsion spring is arranged at the hinged position of the driving block 93, the other end of the driving block 93 can be in contact with the side wall of the dinner plate, a pressing block 94 is arranged above the driving block 93, and the driving block 93 and the pressing block 94 are in meshing transmission through a section of gear teeth; one end of the pressing block 94 is hinged on the clamping jaw 9, and the other end of the pressing block 94 can contact the inner wall of the dinner plate; during operation makes jack catch 9 carry out the centre gripping to the dinner plate through motor drive, the cambered surface of the border extrusion drive block 93 upper end of dinner plate makes drive block 93 swing around articulated department, and then drives compact heap 94 through the meshing of the teeth of a cogwheel and swing simultaneously, and then realizes carrying out the centre gripping to the border of dinner plate, the centre gripping process of drive block 93 and compact heap 94 is realized at the in-process of 5 drive jack catches 9 centre gripping dinner plate lateral walls of double-shaft motor, therefore the centre gripping is efficient, and simple structure, it is stable.
As an embodiment of the present invention, a set of strip-shaped protrusions 931 is disposed on a binding surface of the driving block 93 and the dinner plate; the cross section of the strip-shaped protrusion 931 is semi-elliptical, the shape of the strip-shaped protrusion 931 is larger as the strip-shaped protrusion 931 is closer to the hinge joint of the driving block 93, and the strip-shaped protrusion 931 is made of elastic material; the during operation, dinner plate extrusion drive block 93, drive block 93 swings around articulated department, and the protruding 931 extrusion dinner plate of strip on the drive block 93, the protruding 931 of strip is extruded and is out of shape, realizes the centre gripping of dinner plate, and the protruding 931 of strip of gradual change has guaranteed the effective laminating with the dinner plate, and fine radiating effect can be guaranteed again to the interval between the protruding 931 of strip simultaneously, and then has improved the life of the protruding 931 of strip.
As an embodiment of the present invention, a set of No. two V-shaped grooves 932 is disposed on one side of the strip-shaped protrusion 931 close to the driving block 93; during operation, a group of second V-shaped grooves 932 are formed in one side of the strip-shaped protrusions 931, so that internal stress of the strip-shaped protrusions 931 after bending is reduced, and service life of the strip-shaped protrusions 931 is prolonged.
When the automatic dinner plate clamping device works, after the controller 2 receives a dinner sending signal transmitted by external equipment, the double-shaft motor 5 drives the sliding blocks 7 on two sides of the double-shaft motor 5 to be close through the ball screws 6 with different rotation directions, so that the clamping jaws 9 on the sliding blocks 7 are driven to clamp a dinner plate, the elastic rubber strip 92 is extruded and deformed after contacting the outer wall of the dinner plate, the elastic rubber strip 92 is completely attached to the outer wall of the dinner plate, and when a force sensor arranged in the clamping jaws 9 reaches a set value, the double-shaft motor 5 stops rotating and is locked; the elastic rubber strip 92 arranged at the end part of the clamping jaw 9 enables the clamping jaw 9 to be completely attached to the dinner plate, so that the clamping reliability is guaranteed, and the dinner plates with different sizes can be clamped through the elastic rubber strip 92 and the elastic deformation of the arc corner 91 at the lower end of the clamping jaw 9, so that the use range of the clamping jaw 9 is widened; meanwhile, the edge of the dinner plate extrudes the cambered surface at the upper end of the driving block 93, so that the driving block 93 swings around the hinged position, the pressing block 94 is driven to swing simultaneously through gear tooth meshing, the strip-shaped protrusions 931 on the driving block 93 extrude the dinner plate, the strip-shaped protrusions 931 are extruded and deformed, the dinner plate is clamped, the gradually-changed strip-shaped protrusions 931 ensure effective fit with the dinner plate, meanwhile, the intervals among the strip-shaped protrusions 931 can ensure a good heat dissipation effect, and the service life of the strip-shaped protrusions 931 is prolonged; the clamping process of the driving block 93 and the pressing block 94 is realized in the process that the double-shaft motor 5 drives the clamping jaws 9 to clamp the side walls of the dinner plate, so that the clamping efficiency is high, and the structure is simple and stable; after the clamping is stable, the unmanned aerial vehicle 1 is started, and the dinner plate is sent to a specified position according to a specified flight route, and finally the unmanned aerial vehicle 1 is used for sending the dinner plate; when unmanned aerial vehicle 1 upwards accelerates, the spring is stretched, and the spring has absorbed the impact force that unmanned aerial vehicle 1 upward movement produced, and when the spring rebounded, unmanned aerial vehicle 1's bottom plate and mounting panel 4 extruded shock attenuation cover 31, through the reaction force of shock attenuation cover 31 absorption spring, and then guaranteed that the food in the dinner plate can not spill in the transportation.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (1)
1. A self-service dining method for an unmanned restaurant is characterized by comprising the following steps:
the method comprises the following steps: a customer orders on a touch screen beside a dining table;
step two: after receiving the ordering list in the step one, the robot in the kitchen starts to make food;
step three: the robot loads the food prepared in the step two on a distribution device, and the distribution device conveys the food to the dining table of a customer;
step four: after receiving the food in the third step, the customer starts to eat, and after eating, the customer uses the mobile phone to pay the meal fee;
the distribution device comprises an unmanned aerial vehicle (1), wherein the unmanned aerial vehicle (1) is a multi-rotor unmanned aerial vehicle; the unmanned aerial vehicle is characterized by further comprising a controller (2), a damping module (3), a mounting plate (4), a support plate (41), a double-shaft motor (5), a ball screw (6), a sliding block (7), a polished rod (8) and a clamping jaw (9), wherein the controller (2) is arranged at the upper end of the unmanned aerial vehicle (1); the controller (2) is used for realizing communication between the unmanned aerial vehicle (1) and external equipment; the unmanned aerial vehicle (1) is connected with the mounting plate (4) through the damping module (3); the damping module (3) is used for preventing the vibration of the unmanned aerial vehicle (1) during flying from being transmitted to the mounting plate (4); the middle part of the bottom surface of the mounting plate (4) is fixedly connected with a double-shaft motor (5); one rotating shaft of the double-shaft motor (5) is fixedly connected with the end of the ball screw (6) which rotates forwards, and the other rotating shaft of the double-shaft motor (5) is fixedly connected with the end of the ball screw (6) which rotates backwards; the other end of the ball screw (6) is respectively and rotatably arranged in the middle of the supporting plates (41) at the left side and the right side, and two polished rods (8) arranged in parallel are fixedly connected between the two supporting plates (41); the lower end of the sliding block (7) is connected with the polished rod (8) in a sliding mode, the upper end of the sliding block (7) is connected with the ball screw (6) through a screw-nut pair, the sliding block (7) with the forward-rotating threads is installed on the forward-rotating ball screw (6), and the sliding block (7) with the reverse-rotating threads is installed on the reverse-rotating ball screw (6); the lower end of the sliding block (7) is fixedly connected with the upper end of the clamping jaw (9); the clamping jaws (9) are used for clamping the dinner plate;
the damping module (3) comprises a damping sleeve (31) and a spring, and a group of damping sleeves (31) are arranged between a bottom plate of the unmanned aerial vehicle (1) and the mounting plate (4); the damping sleeve (31) is made of elastic materials, a group of cylindrical through holes are formed in the cylindrical surface of the damping sleeve (31), and a spring is arranged in the central hole of the damping sleeve (31); the spring is used for connecting a bottom plate and a mounting plate (4) of the unmanned aerial vehicle (1);
an elastic rubber strip (92) is supported on the arc corner (91) at the lower end of the claw (9); the two ends of the elastic rubber strip (92) are hung on the arc corners (91) of the claws (9) through back-off; the arc corners (91) at the lower ends of the clamping jaws (9) have certain elasticity;
a group of vertical first V-shaped grooves (921) are arranged on the clamping surface of the elastic rubber strip (92);
a driving block (93) is arranged at the lower end of the claw (9) close to the edge of the dinner plate; one end of the driving block (93) is hinged to the jaw (9), a torsion spring is arranged at the hinged position of the driving block (93), the other end of the driving block (93) can be in contact with the side wall of the dinner plate, a pressing block (94) is arranged above the driving block (93), and the driving block (93) and the pressing block (94) are in meshing transmission through a section of gear teeth; one end of the pressing block (94) is hinged to the clamping jaw (9), and the other end of the pressing block (94) can contact the inner wall of the dinner plate;
a group of strip-shaped bulges (931) are arranged on the binding surface of the driving block (93) and the dinner plate; the cross section of the strip-shaped protrusion (931) is semi-elliptical, the shape of the strip-shaped protrusion (931) is larger when the strip-shaped protrusion (931) is closer to the hinged position of the driving block (93), and the strip-shaped protrusion (931) is made of elastic materials;
one side of the strip-shaped protrusion (931) close to the driving block (93) is provided with a group of second V-shaped grooves (932);
when the automatic dinner plate clamping device works, after a controller (2) receives a dinner sending signal transmitted by external equipment, the double-shaft motor (5) drives the sliding blocks (7) on the two sides of the double-shaft motor (5) to be close to each other through the ball screws (6) with different rotation directions, so that the clamping jaws (9) on the sliding blocks (7) are driven to clamp a dinner plate, the elastic rubber strips (92) are extruded and deformed after contacting the outer wall of the dinner plate, the elastic rubber strips (92) are completely attached to the outer wall of the dinner plate, and when a force sensor arranged in the clamping jaws (9) reaches a set value, the double-shaft motor (5) stops rotating; the elastic rubber strip (92) is arranged at the end part of the clamping jaw (9), so that the clamping jaw (9) can be completely attached to the dinner plate, the clamping reliability is further ensured, and the dinner plates with different sizes can be clamped through elastic deformation of the elastic rubber strip (92) and the arc corner (91) at the lower end of the clamping jaw (9), so that the use range of the clamping jaw (9) is widened; meanwhile, the arc surface at the upper end of the driving block (93) is extruded by the edge of the dinner plate, so that the driving block (93) swings around the hinged position, the pressing block (94) is driven to swing simultaneously through gear tooth meshing, the dinner plate is extruded by the strip-shaped protrusions (931) on the driving block (93), the strip-shaped protrusions (931) are extruded and deformed, the dinner plate is clamped, the strip-shaped protrusions (931) which are gradually changed guarantee effective fit with the dinner plate, meanwhile, the interval between the strip-shaped protrusions (931) can guarantee a good heat dissipation effect, and the service life of the strip-shaped protrusions (931) is prolonged; the clamping process of the driving block (93) and the pressing block (94) is realized in the process that the double-shaft motor (5) drives the clamping jaws (9) to clamp the side wall of the dinner plate, so that the clamping efficiency is high, and the structure is simple and stable; after the clamping is stable, the unmanned aerial vehicle (1) is started, the dinner plate is sent to a specified position according to a specified flight route, and finally the unmanned aerial vehicle (1) is used for sending the dinner plate; when unmanned aerial vehicle (1) upwards accelerated, the spring is stretched, and the spring has absorbed the impact force that unmanned aerial vehicle (1) upward movement produced, and when the spring rebounded, unmanned aerial vehicle's (1) bottom plate and mounting panel (4) extrusion shock attenuation cover (31) through the reaction force of shock attenuation cover (31) absorption spring, and then guaranteed that the food in the dinner plate can not unrestrained in the transportation.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810873436.XA CN108995805B (en) | 2018-08-02 | 2018-08-02 | Self-service dining method for unmanned restaurant |
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| CN201810873436.XA CN108995805B (en) | 2018-08-02 | 2018-08-02 | Self-service dining method for unmanned restaurant |
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| CN108995805B true CN108995805B (en) | 2020-08-21 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113031605A (en) * | 2020-03-06 | 2021-06-25 | 智慧式有限公司 | Food material preparation system and method for intelligent type unmanned kitchen |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4429417A1 (en) * | 1994-08-19 | 1996-02-22 | Nagel Masch Werkzeug | Clamping fixture for workpiece with outer tooth system |
| CN203765637U (en) * | 2014-03-14 | 2014-08-13 | 淮安信息职业技术学院 | Large-sized columnar part fetching manipulator |
| CN204229192U (en) * | 2014-03-25 | 2015-03-25 | 深圳市大富精工有限公司 | Robot service restaurants system |
| CN204298510U (en) * | 2014-11-21 | 2015-04-29 | 浙江晶盛机电股份有限公司 | A kind of crystal bar clamping device |
| CN106584514B (en) * | 2017-02-15 | 2018-10-30 | 浙江锦源实业有限公司 | A kind of balanced shock-absorbing device of meal delivery robot |
| CN107379909B (en) * | 2017-07-27 | 2019-10-29 | 潘浩然 | A kind of flight meal delivery robot |
| CN207107846U (en) * | 2017-07-31 | 2018-03-16 | 罗必锋 | A kind of electronic clamping device of auto parts machinery |
| CN107756419B (en) * | 2017-11-30 | 2024-04-02 | 歌尔科技有限公司 | Restaurant robot |
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Address after: 510000 Room 601, No. 26, ChenYue Road, Haizhu District, Guangzhou City, Guangdong Province (office only) Patentee after: Guangdong xinyouhao Group Co.,Ltd. Address before: 510000 room 407, building 8, Nanjing University student dormitory building, 22 Hankou Road, Guangzhou, Guangdong Patentee before: Guangdong xinyouhao Enterprise Management Service Co., Ltd |