CN112890675A

CN112890675A - Robot for dining room integrating food delivery and cleaning

Info

Publication number: CN112890675A
Application number: CN202110099706.8A
Authority: CN
Inventors: 张德华; 杨小龙; 王秀银; 王尊
Original assignee: Henan University
Current assignee: Henan University
Priority date: 2021-01-25
Filing date: 2021-01-25
Publication date: 2021-06-04
Anticipated expiration: 2041-01-25
Also published as: CN112890675B

Abstract

The invention discloses a dining room robot integrating food delivery and cleaning, which belongs to the technical field of robots and comprises a robot body, wherein the robot body consists of a machine head, a machine body and a lower disc body, the machine body is connected below the machine head, and the lower disc body is arranged below the machine body. The robot for the canteen integrates meal delivery and cleaning, has good sealing performance, can be opened and closed by the control of the control system, is convenient to take dishes, can replace or partially replace restaurant service personnel to serve consumers, can greatly improve the working efficiency of the restaurant and save the expense of the restaurant, ensures that the overall benefit of the restaurant is stably increased, improves the internal placement space, effectively cleans and arranges the tabletop, saves time and a large amount of manpower, improves the working efficiency, can collect garbage, avoids pollution, reduces energy consumption, is convenient to replace, and improves the use convenience.

Description

Robot for dining room integrating food delivery and cleaning

Technical Field

The invention relates to the technical field of robots, in particular to a dining room robot integrating food delivery and cleaning.

Background

With the strong comprehensive strength of the country, more and more scientific and technical products come up, which greatly helps us, and the robot is one of the scientific and technical products. Modern robots are increasingly incorporated into industry, business and even daily life as an emerging industry.

Industrial robots, as the kind of robots that are put into production and practice at first, have perfectly demonstrated their high-quality and efficient working performance. The intelligent robot in the service class is a new invention in the field, which is a blue trend, the application range is wide, the preference degree of consumers is greatly superior to that of other types of robots, and the intelligent robot in the field at present has single function and cannot have the functions of food delivery and cleaning at the same time. The invention combines the two, is more convenient and faster, and saves a large amount of human resources.

At present, the price and the quality of the restaurant robot in the service robot technical field are in direct proportion. The popularization range is difficult to meet the requirement, and meanwhile, the defects of service speed and operation are brought.

Disclosure of Invention

The invention aims to provide an arc movable cover plate which has good sealing performance, can fix a dinner plate, can be opened and closed under the control of a control system, is convenient to take dishes, can replace or partially replace restaurant service personnel to serve consumers, can greatly improve the working efficiency of a restaurant and save the expense of the restaurant, ensures that the overall benefit of the restaurant is stably raised, is used for storing tableware used by users, improves the using comfort, is convenient to take, improves the internal placing space, can be used for placing in different regions, increases the using convenience, can be used for distinguishing, effectively cleans and arranges a table top, saves time and a large amount of manpower, improves the working efficiency, can collect garbage, avoids pollution, reduces energy loss, improves the steering speed, meets the use convenience, and can effectively ensure that the ground feels neat when in work, improve cleaning efficiency, but and the box split is carried to half arc, is convenient for clear up inside filter equipment and dust, is convenient for change, improves the collection that uses the convenience and send meal and clean robot for dining room as an organic whole to solve the problem of proposing among the above-mentioned background art.

In order to achieve the purpose, the invention provides the following technical scheme:

the utility model provides a collect food delivery and clean robot for dining room as an organic whole, includes the robot, the robot comprises machine head, fuselage and lower disk body, and the fuselage is connected to the below of machine head, and the disk body is set up down to the below of fuselage, the top of machine head sets up the arc movable cover plate, the inside of machine head sets up control system, and the subassembly is placed in the inside setting of fuselage, and cleaning device is installed to the both sides end of fuselage, the below of disk body sets up the removal subassembly down, and the inside of lower disk body sets up dust extraction, cleaning device, dust extraction, removal subassembly and place the subassembly and all be connected with the control system electricity.

Furthermore, the control system comprises a control module, a path planning module, an obstacle avoidance module, a signal receiver, a voice module and a display, wherein the control module is respectively electrically connected with the path planning module, the obstacle avoidance module, the signal receiver, the voice module and the display, the obstacle avoidance module is electrically connected with the voice module, and the signal receiver is electrically connected with the path planning module.

Further, the placing assembly comprises a first placing groove, a second placing groove, a first tableware storage drawer and a second tableware storage drawer and a telescopic device, the first placing groove and the second placing groove are arranged in the machine body, the second placing groove is arranged below the first placing groove, the first tableware storage drawer is arranged inside the first placing groove, the second tableware storage drawer is arranged inside the second placing groove, the first tableware storage drawer and the second tableware storage drawer are arranged inside the second placing groove, and the telescopic device is connected to the rear end of the first tableware storage drawer and the rear end of the second tableware storage drawer.

Further, telescoping device package air pump, the gas-supply pipe, the pressure activity groove, a piston, output push rod and shell body, the air pump sets up the top at the shell body, the gas-supply pipe is connected to the air pump top, the air pump passes through the gas-supply pipe and is connected with the pressure activity groove, the laminating of pressure activity inslot wall is connected the piston, piston one end installation output push rod, the gas-supply pipe, the pressure activity groove, piston and output push rod all set up three groups, the air pump is connected with three pressure activity grooves of group respectively through three gas-supply pipes of group, all be provided with the solenoid valve on three groups of gas-supply pipes, two groups of output push rods deposit the steamer tray with first tableware respectively and the steamer tray is deposited with the second tableware.

Further, cleaning device includes left loose axle, the big arm in a left side, left connecting axle, the small arm of left clearance, right loose axle, the big arm in the right side, right connecting axle, the small arm of right clearance and garbage collection steamer tray, the big arm in a left side passes through left loose axle and is connected with the fuselage side, big arm in a left side one end is passed through left connecting axle and is connected with the small arm of left clearance, the big arm in the right side passes through right loose axle and is connected with the fuselage side, big arm in the right side one end is passed through right connecting axle and is connected with the small arm of left clearance, the garbage collection steamer tray sets up in the fuselage of placing the subassembly below, and with fuselage swing joint.

Further, an L-shaped groove is formed in the lower portion of the left cleaning small arm, a cleaning sponge layer is installed in the L-shaped groove in the lower portion of the left cleaning small arm, an L-shaped groove is formed in the lower portion of the right cleaning small arm, a cleaning brush layer is installed in the L-shaped groove in the lower portion of the right cleaning small arm, and the cleaning sponge layer and the cleaning brush layer are installed below the left cleaning small arm and the right cleaning small arm respectively through mounting plates and screws.

Further, the moving assembly comprises a first roller, a second roller, a two-way motor, a speed reducer and a rotating rod, the first roller and the second roller are in butt joint with the output end of the two-way motor through the rotating rod, the speed reducer is arranged on the rotating rod, the speed reducer is sleeved on the output ends of the two ends of the speed reducer, and the speed reducer and the two-way motor are respectively electrically connected with the control system.

Furthermore, dust extraction includes that dust absorption groove, dust absorption mouth, activity tripe, half arc carry box and filter equipment, and the dust absorption groove sets up in lower plate body, and the dust absorption mouth has been seted up to the below of lower plate body, and the inside of dust absorption mouth sets up multiunit activity tripe, and the side of dust absorption groove sets up half arc and carries the box, and the inside that the box was carried to half arc sets up filter equipment.

Further, filter equipment includes preliminary filter layer, intermediate layer, meticulous filter layer and adsorbed layer, sets up the intermediate layer between preliminary filter layer and the meticulous filter layer, sets up the adsorbed layer in the intermediate layer, and it is fixed that the box is carried to half arc and the lower disk body between the joint is closed in the extraction.

Further, still set up a clearance subassembly on the cleaning device of fuselage side, the clearance subassembly includes the fixed mounting axostylus axostyle, the cylinder, flexible installation axostylus axostyle, clearance roller and loose bearing, the cylinder is fixed in cleaning device one end, flexible installation axostylus axostyle is connected to the output of cylinder, cup joint between flexible installation axostylus axostyle and the fixed mounting axostylus axostyle and install the clearance roller, clearance roller both ends face sets up loose bearing, all cup joint at flexible installation axostylus axostyle and fixed mounting axostylus axostyle through the loose.

Compared with the prior art, the invention has the beneficial effects that:

1. according to the robot for the dining hall, which integrates the functions of delivering and cleaning, the arc-shaped movable cover plate has a heat preservation function and good sealing performance, and the arc-shaped movable cover plate capable of fixing the dinner plate can be opened and closed under the control of the control system, so that dishes can be conveniently taken.

2. The robot for the canteen integrating food delivery and cleaning has the advantages that the obstacle avoidance module is electrically connected with the voice module, the signal receiver is electrically connected with the path planning module, the control module adopts the MCU module, the obstacle can be automatically avoided through the control system, the use safety of the robot is effectively improved, the collision is prevented, the service life is prolonged, the damage is reduced, the robot has multiple intelligent service functions of automatic food delivery returning, accurate positioning, automatic navigation obstacle avoidance, voice prompt communication and the like, can replace or partially replace restaurant service staff to serve consumers, the working efficiency of the restaurant can be greatly improved, the expense of the restaurant is saved, and the overall benefit of the restaurant is stably improved.

3. According to the robot for the dining hall integrating food delivery and cleaning, the air pump is respectively connected with the three groups of pressure movable grooves through the three groups of air conveying pipes, the two groups of output push rods are respectively connected with the first tableware storage drawer and the second tableware storage drawer, and the one group of output push rods are connected with the cleaning device and used for storing tableware used by a user through controlling stretching and retracting, so that the use comfort is improved, and the robot is convenient to take.

4. According to the robot for the dining room integrating food delivery and cleaning, the second tableware storage drawer is arranged inside the second placing groove, the rear ends of the first tableware storage drawer and the second tableware storage drawer are connected with the telescopic devices, the two groups of placing grooves are arranged, the internal placing space is increased, the robot can be used for placing in different areas, the use convenience is improved, and the robot can be used for distinguishing.

5. According to the robot for the dining room integrating food delivery and cleaning, disclosed by the invention, the L-shaped groove is formed below the left cleaning small arm, the cleaning sponge layer is arranged in the L-shaped groove below the left cleaning small arm, the L-shaped groove is formed below the right cleaning small arm, the cleaning brush layer is arranged in the L-shaped groove below the right cleaning small arm, and the cleaning sponge layer and the cleaning brush layer are respectively arranged below the left cleaning small arm and the right cleaning small arm through the mounting plate and the screws, so that a desktop is effectively cleaned and arranged, the time and a large amount of manpower are saved, the working efficiency is improved, garbage can be collected, and pollution is avoided.

6. According to the canteen robot integrating food delivery and cleaning, the speed reducer and the bidirectional motor are respectively and electrically connected with the control system, steering is performed by utilizing the two-wheel differential speed, stability is improved, energy loss is reduced, steering speed is increased, and convenience in use is met.

7. The robot for the dining room integrating food delivery and cleaning has the advantages that the adsorption layer is arranged in the interlayer, the semi-arc-shaped carrying box and the lower disc body are fixedly connected in a pulling and clamping mode, the movable louver of the dust suction port is always in the open state in the moving process of the robot, the floor of the dining room is cleaned through the dust suction device, sucked dust and impurities are filtered and stored through the semi-arc-shaped carrying box, the floor feeling can be ensured to be clean and tidy during effective work, the cleaning efficiency is improved, the semi-arc-shaped carrying box can be detached, and the internal filtering device and dust can be conveniently cleaned.

8. According to the robot for the dining room integrating food delivery and cleaning, the two ends of the cleaning roll shaft are movably sleeved on the telescopic mounting shaft rod and the fixed mounting shaft rod through the movable bearings, the cleaning roll shaft rotates on a dining table to clean, cleaning is facilitated, the cleaning roll shaft can be retracted through the air cylinder to be detached, replacement is facilitated, and use convenience is improved.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic structural diagram of a robot body according to the present invention;

FIG. 3 is a block diagram of the control system connections of the present invention;

FIG. 4 is a partial schematic view of the placement module of the present invention;

FIG. 5 is a schematic view of a storage drawer according to the present invention;

FIG. 6 is a cross-sectional view of the structure of the retractor of the present invention;

FIG. 7 is a schematic view of a bin according to the present invention;

FIG. 8 is an exploded view of the cleaning assembly of the present invention;

FIG. 9 is a schematic view of the moving assembly of the present invention;

FIG. 10 is a sectional view of the dust collector of the present invention;

FIG. 11 is a schematic structural diagram of a second embodiment of the present invention;

fig. 12 is an exploded view of the cleaning assembly of the present invention.

In the figure: 1. a robot body; 11. a machine head; 111. an arc-shaped movable cover plate; 12. a body; 13. a lower tray body; 2. a control system; 21. a control module; 22. a path planning module; 23. an obstacle avoidance module; 24. a signal receiver; 25. a voice module; 26. a display; 3. placing the component; 31. a first placing groove; 32. a second placing groove; 33. a first food storage drawer; 34. a second tableware storage drawer; 35. a telescoping device; 351. an air pump; 352. a gas delivery pipe; 353. a pressure movable groove; 354. a piston; 355. an output push rod; 356. an outer housing; 4. a cleaning device; 41. a left movable shaft; 42. a left big arm; 43. a left connecting shaft; 44. cleaning the small arm at the left side; 441. cleaning a sponge layer; 45. a right movable shaft; 46. a right large arm; 47. a right connecting shaft; 48. cleaning the small arm at the right side; 481. cleaning the brush layer; 49. a garbage collection drawer; 5. a moving assembly; 51. a first roller; 52. a second roller; 53. a bi-directional motor; 54. a speed reducer; 55. a rotating rod; 6. a dust collection device; 61. a dust collection groove; 62. a dust suction port; 63. a movable louver; 64. carrying a box in a semi-arc shape; 65. a filtration device; 651. a preliminary filtering layer; 652. an interlayer; 653. a fine filter layer; 654. an adsorption layer; 7. cleaning the assembly; 71. fixedly mounting a shaft lever; 72. a cylinder; 73. a shaft lever is installed in a telescopic mode; 74. cleaning the roll shaft; 75. and a movable bearing.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The first embodiment is as follows:

referring to fig. 1-2, a dining room robot integrating dining and cleaning comprises a robot body 1, wherein the robot body 1 is composed of a machine head 11, a machine body 12 and a lower disc 13, an arc-shaped movable cover plate 111 is arranged above the machine head 11, a control system 2 is arranged inside the machine head 11, the lower disc 13 is arranged below the machine body 12, the control system 2 is arranged inside the machine head 11, a placing component 3 is arranged inside the machine body 12, cleaning devices 4 are arranged at two side ends of the machine body 12, a moving component 5 is arranged below the lower disc 13, a dust suction device 6 is arranged inside the lower disc 13, the cleaning devices 4, the dust suction device 6, the moving component 5 and the placing component 3 are electrically connected with the control system 2, the arc-shaped movable cover plate 111 has a heat preservation function and good sealing performance, and the fixed arc-shaped movable cover plate 111 can be opened and closed through the control of the control system 2, the dish is convenient to take.

Referring to fig. 3, the control system 2 includes a control module 21, a path planning module 22, an obstacle avoidance module 23, a signal receiver 24, a voice module 25 and a display 26, the control module 21 is respectively electrically connected to the path planning module 22, the obstacle avoidance module 23, the signal receiver 24, the voice module 25 and the display 26, the obstacle avoidance module 23 is electrically connected to the voice module 25, the signal receiver 24 is electrically connected to the path planning module 22, the control module 21 adopts an MCU module and is responsible for providing a corresponding algorithm and controlling other modules, the path planning module 22 uses an ultrasonic sensor, a laser radar, etc. to detect obstacles around the mobile robot and transmit the obstacles to the MCU module through a data acquisition module, uses a binocular vision SLAM algorithm to fuse odometer information and gyroscope information into positioning information through kalman filtering, the obstacle avoidance module 23 uses an infrared sensor and a temperature sensor, the infrared sensor detects whether the temperature of the front obstacle accords with the human body characteristic index or not by receiving the distance signal and further detecting whether the temperature of the front obstacle accords with the human body characteristic index or not by the temperature sensor, and sends out an avoidance language prompt by the voice module 25, the robot receives the ordering information of the user and the position information of the user by the signal receiver 24 and transmits the ordering information to the path planning module 22, the path planning module 22 carries out position location and path planning of the ordering information to the user position and transmits the path planning information to the control module 21, the control module 21 controls the moving assembly 5 to operate to drive the robot to go to the position of the user according to the path planning, when the ordering user position is reached, the voice module 25 receives the position information from the control module 21 and sends out a voice to prompt the ordering user to take the meal, and if the infrared sensor and the temperature sensor are used by the avoidance module 23 in, the robot has multiple intelligent service functions of automatic meal delivery returning, accurate positioning, automatic navigation obstacle avoidance, voice prompt communication and the like, can replace or partially replace restaurant service personnel to serve consumers, can greatly improve the working efficiency of a restaurant and save the expense of the restaurant, and ensures that the overall benefit of the restaurant is stably increased.

Referring to fig. 4-5, the placing assembly 3 includes a first placing groove 31, a second placing groove 32, a first tableware storage drawer 33, a second tableware storage drawer 34 and a telescopic device 35, the first placing groove 31 and the second placing groove 32 are disposed in the machine body 12, the second placing groove 32 is disposed below the first placing groove 31, the first tableware storage drawer 33 is disposed inside the first placing groove 31, the second tableware storage drawer 34 is disposed inside the second placing groove 32, the telescopic device 35 is connected to the rear ends of the first tableware storage drawer 33 and the second tableware storage drawer 34, and by providing two sets of placing grooves, the internal placing space is increased, and the placing assembly can be used for placing in different regions, so that the convenience of use is increased, and the placing assembly can be used for distinguishing.

Referring to fig. 6, the expansion device 35 includes an air pump 351, air pipes 352, pressure active slots 353, a piston 354, an output push rod 355 and an outer casing 356, the air pump 351 is disposed above the outer casing 356, the air pipe 352 is connected above the air pump 351, the air pump 351 is connected with the pressure active slots 353 through the air pipes 352, the inner wall of the pressure active slots 353 is attached to the piston 354, one end of the piston 354 is provided with the output push rod 355, three sets of the air pipes 352, the pressure active slots 353, the piston 354 and the output push rod 355 are disposed, three sets of the air pipes 352 are provided with electromagnetic valves, the air pump 351 is respectively connected with three sets of the pressure active slots 353 through three sets of the air pipes 352, two sets of the output push rods 355 are respectively connected with the first tableware storage drawer 33 and the second tableware storage drawer 34, one set of the output push rods 355 is connected with the cleaning device 4, the air pump 351 supplies air to the pressure active slots 353 through, the piston 354 drives the output push rod 355 to move in the pressure movable groove 353, so that the first tableware storage drawer 33 and the second tableware storage drawer 34 are ejected out, and the extension and retraction are controlled to store tableware used by a user, so that the use comfort is improved, and the tableware is convenient to take.

Referring to fig. 7-8, the cleaning device 4 includes a left movable shaft 41, a left large arm 42, a left connecting shaft 43, a left small cleaning arm 44, a right movable shaft 45, a right large arm 46, a right connecting shaft 47, a right small cleaning arm 48 and a garbage collection drawer 49, the left large arm 42 is connected to the side end of the body 12 through the left movable shaft 41, one end of the left large arm 42 is connected to the left small cleaning arm 44 through the left connecting shaft 43, the right large arm 46 is connected to the side end of the body 12 through the right movable shaft 45, one end of the right large arm 46 is connected to the left small cleaning arm 44 through the right connecting shaft 47, the garbage collection drawer 49 is disposed in the body 12 below the placing component 3 and movably connected to the body 12, an L-shaped groove is formed below the left small cleaning arm 44, a cleaning sponge layer 441 is disposed in the L-shaped groove below the left small cleaning arm 44, an L-shaped groove is formed below the right small cleaning arm 48, a cleaning brush layer 481 is disposed in the L-shaped groove below the right small cleaning arm 48, cleaning sponge layer 441 and cleaning brush layer 481 are both installed below left cleaning forearm 44 and right cleaning forearm 48 through mounting panel and screw respectively, after the dinner plate is deposited to the user, the robot controls the mechanical arm motion about the trunk through control module 21, left cleaning forearm 44 and right cleaning forearm 48 sweep back and forth, cleaning brush layer 481 cleans the desktop, cleaning sponge layer 441 cleans and cleans the desktop, the mechanical arm is in the cleaning process, garbage collection drawer 49 pops out through telescoping device 35, and collects the kitchen garbage swept down by the mechanical arm motion, after the mechanical arm finishes cleaning the desktop, garbage collection drawer 49 withdraws into the trunk through receiving control module 21 instruction, effectively clean and arrange the desktop, save time and a large amount of manpower improvement work efficiency, can collect garbage, avoid pollution.

Referring to fig. 9, the moving assembly 5 includes a first roller 51, a second roller 52, a bidirectional motor 53, a speed reducer 54 and a rotating rod 55, the first roller 51 and the second roller 52 are connected with an output end of the bidirectional motor 53 through the rotating rod 55, the rotating rod 55 is provided with the speed reducer 54, the output ends of two ends of the speed reducer 54 are sleeved with the speed reducer 54, the speed reducer 54 and the bidirectional motor 53 are respectively electrically connected with the control system 2, when the vehicle travels, the bidirectional motor 53 drives the rotating rods 55 at two sides to rotate, so as to drive the first roller 51 and the second roller 52 to move, when the vehicle needs to turn, the speed reducer 54 at the direction can be started according to the turning direction, so as to change the rotating speed of the roller at one side, so that the rotating speed of the first roller 51 is different from that of the second roller 52, the roller at the side with a reduced speed is slowed, so that the roller at the other side drives the whole, when the stability is increased, the energy consumption is reduced, the steering speed is increased, and the use convenience is met.

Referring to fig. 10, the dust suction device 6 includes a dust suction groove 61, a dust suction port 62, movable louvers 63, a semi-arc shaped carrying box 64 and a filtering device 65, the dust suction groove 61 is disposed in the lower tray body 13, the dust suction port 62 is disposed below the lower tray body 13, a plurality of groups of movable louvers 63 are disposed in the dust suction port 62, the semi-arc shaped carrying box 64 is disposed at a side end of the dust suction groove 61, the filtering device 65 is disposed in the semi-arc shaped carrying box 64, the filtering device 65 includes a preliminary filtering layer 651, an interlayer 652, a fine filtering layer 653 and an adsorbing layer 654, an interlayer 652 is disposed between the preliminary filtering layer 651 and the fine filtering layer 653, the adsorbing layer 654 is disposed in the interlayer 652, the semi-arc shaped carrying box 64 and the lower tray body 13 are fixed by engaging and engaging with each other, the movable louvers 63 of the dust suction port 62 are always in an open state during the traveling of the robot, the dust suction device 6 cleans the floor of the restaurant, filters and stores the sucked dust and impurities by, effectively can guarantee that ground feel is clean and tidy at the during operation, improve cleaning efficiency, and half arc is carried box 64 and is split, is convenient for clear up inside filter equipment 65 and dust.

Example two:

referring to fig. 11, a dining room robot integrating food delivery and cleaning, comprising a robot body 1, wherein the robot body 1 is composed of a machine head 11, a machine body 12 and a lower tray body 13, an arc-shaped movable cover plate 111 is arranged above the machine head 11, a control system 2 is arranged inside the machine head 11, the lower tray body 13 is arranged below the machine body 12, the control system 2 is arranged inside the machine head 11, a placing component 3 is arranged inside the machine body 12, cleaning devices 4 are arranged at two side ends of the machine body 12, a moving component 5 is arranged below the lower tray body 13, a dust suction device 6 is arranged inside the lower tray body 13, the cleaning devices 4, the dust suction device 6, the moving component 5 and the placing component 3 are all electrically connected with the control system 2, the arc-shaped movable cover plate 111 has a heat preservation function, has good sealing performance, and the fixed arc-shaped movable cover plate 111 can be opened and closed through the control of the control system 2, the control system 2 comprises a control module 21, a path planning module 22, an obstacle avoidance module 23, a signal receiver 24, a voice module 25 and a display 26, wherein the control module 21 is respectively electrically connected with the path planning module 22, the obstacle avoidance module 23, the signal receiver 24, the voice module 25 and the display 26, the obstacle avoidance module 23 is electrically connected with the voice module 25, the signal receiver 24 is electrically connected with the path planning module 22, the control module 21 adopts an MCU module and is responsible for providing corresponding algorithms and controlling other modules, the path planning module 22 detects obstacles around the mobile robot by using an ultrasonic sensor, a laser radar and the like and transmits the obstacles to the MCU module through a data acquisition module, the odometer information and gyroscope information are fused into positioning information by Kalman filtering by using a binocular vision SLAM algorithm, the obstacle avoidance module 23 uses an infrared sensor and a temperature sensor, the infrared sensor detects whether the temperature of the front obstacle accords with the human body characteristic index or not by receiving the distance signal and further detecting whether the temperature of the front obstacle accords with the human body characteristic index or not by the temperature sensor, and sends out an avoidance language prompt by the voice module 25, the robot receives the ordering information of the user and the position information of the user by the signal receiver 24 and transmits the ordering information to the path planning module 22, the path planning module 22 carries out position location and path planning of the ordering information to the user position and transmits the path planning information to the control module 21, the control module 21 controls the moving assembly 5 to operate to drive the robot to go to the position of the user according to the path planning, when the ordering user position is reached, the voice module 25 receives the position information from the control module 21 and sends out a voice to prompt the ordering user to take the meal, and if the infrared sensor and the temperature sensor are used by the avoidance module 23 in, when the front obstacle is detected to be a human body, the voice module 25 sends out an avoidance language prompt, the obstacle can be automatically avoided through the control system 2, the use safety of the robot is effectively improved, the collision is prevented, the service life is prolonged, the damage is reduced, the robot has multiple intelligent service functions of automatic meal delivery returning, accurate positioning, automatic navigation obstacle avoidance, voice prompt communication and the like, can replace or partially replace restaurant service personnel to serve consumers, the working efficiency of a restaurant can be greatly improved, the expense of the restaurant is saved, the overall benefit of the restaurant is stably improved, the placing component 3 comprises a first placing groove 31, a second placing groove 32, a first tableware storage drawer 33, a second tableware storage drawer 34 and a telescopic device 35, the first placing groove 31 and the second placing groove 32 are arranged in the machine body 12, the second placing groove 32 is arranged below the first placing groove 31, the first tableware storage drawer 33 is arranged in the first placing groove 31, the second tableware storage drawer 34 is arranged in the second placing groove 32, the rear ends of the first tableware storage drawer 33 and the second tableware storage drawer 34 are connected with the expansion device 35, the inner placing space is improved by arranging two groups of placing grooves, the tableware storage box can be placed in different regions, the convenience of use is improved, and the tableware storage box can be distinguished, the expansion device 35 comprises an air pump 351, an air pipe 352, a pressure movable groove 353, a piston 354, an output push rod 355 and an outer shell 356, the air pump 351 is arranged above the outer shell 356, the air pipe 352 is connected above the air pump 351, the air pump 351 is connected with the pressure movable groove through the air pipe 352, the piston 354 is connected with the inner wall of the pressure movable groove 353 in an attaching mode, the output push rod 355 is arranged at one end of the piston 354, three groups of the air pipe 352, the pressure movable groove 353, the piston 354 and the output push rod 355 are all arranged, and three groups of, the air pump 351 is respectively connected with three pressure movable grooves 353 through three air delivery pipes 352, two groups of output push rods 355 are respectively connected with the first tableware storage drawer 33 and the second tableware storage drawer 34, one group of output push rods 355 are connected with the cleaning device 4, the air pump 351 delivers air into the pressure movable grooves 353 through the air delivery pipes 352, under the condition of pressure intensity, the piston 354 drives the output push rods 355 to move in the pressure movable grooves 353, so that the first tableware storage drawer 33 and the second tableware storage drawer 34 are ejected out, the tableware used by a user is stored by controlling the expansion and contraction, the using comfort is improved, the taking is convenient, the cleaning device 4 comprises a left movable shaft 41, a left large arm 42, a left connecting shaft 43, a left small cleaning arm 44, a right movable shaft 45, a right large arm 46, a right connecting shaft 47, a right small cleaning arm 48 and a garbage collecting drawer 49, the left large arm 42 is connected with the side end of the machine body 12 through the left movable shaft 41, one end of a left big arm 42 is connected with a left small cleaning arm 44 through a left connecting shaft 43, a right big arm 46 is connected with the side end of the machine body 12 through a right movable shaft 45, one end of the right big arm 46 is connected with the left small cleaning arm 44 through a right connecting shaft 47, a garbage collection drawer 49 is arranged in the machine body 12 below the placing component 3 and movably connected with the machine body 12, an L-shaped groove is arranged below the left small cleaning arm 44, a cleaning sponge layer 441 is arranged in the L-shaped groove below the left small cleaning arm 44, an L-shaped groove is arranged below the right small cleaning arm 48, a cleaning brush layer 481 is arranged in the L-shaped groove below the right small cleaning arm 48, the cleaning sponge layer 441 and the cleaning brush layer 481 are respectively arranged below the left small cleaning arm 44 and the right small cleaning arm 48 through mounting plates and screws, after a dinner plate is stored by a user, the robot controls the left mechanical arm and the right mechanical arm of the trunk to move through the control module 21, the left small cleaning arm 44 and the right small cleaning arm 48 sweep back and forth, the cleaning brush layer 481 cleans the tabletop, the cleaning sponge layer 441 cleans and wipes the tabletop, the mechanical arm ejects the garbage collection drawer 49 through the telescopic device 35 in the cleaning process and collects kitchen garbage swept by the movement of the mechanical arm, after the mechanical arm cleans the tabletop, the garbage collection drawer 49 is retracted into the trunk through receiving an instruction of the control module 21, the tabletop is effectively cleaned and tidied, the time and a large amount of manpower are saved, the working efficiency is improved, the garbage can be collected and pollution is avoided, the moving assembly 5 comprises a first roller 51, a second roller 52, a bidirectional motor 53, a speed reducer 54 and a rotating rod 55, the first roller 51 and the second roller 52 are in butt joint with the output end of the bidirectional motor 53 through the rotating rod 55, the rotating rod 55 is provided with the speed reducer 54, the output ends of the two ends of the speed reducer 54 are sleeved with the speed reducers 54, the speed reducers 54 and the bidirectional motor 53 are respectively and electrically connected with the control system 2, when the walking removes, the bull stick 55 that two-way motor 53 drove both sides rotates, thereby drive first gyro wheel 51 and the removal of second gyro wheel 52, when needs turn to, can be according to turning to the direction, start the speed reducer 54 of its direction, change the rotational speed of the gyro wheel of one side, make the rotational speed of first gyro wheel 51 and second gyro wheel 52 different, the gyro wheel of reduction speed one side slows down, thereby the gyro wheel of opposite side drives whole machine and turns to, turn to through utilizing two-wheeled differential, when increasing stably, reduce the energy loss, the speed of turning to is improved, satisfy the convenience of using.

Please refer to fig. 12, a cleaning assembly 7 is further disposed on the cleaning device 4 at the side end of the machine body 12, the cleaning assembly 7 includes a fixed mounting shaft rod 71, a cylinder 72, a telescopic mounting shaft rod 73, a cleaning roller shaft 74 and a movable bearing 75, the cylinder 72 is fixed at one end of the cleaning device 4, the output end of the cylinder 72 is connected with the telescopic mounting shaft rod 73, the cleaning roller shaft 74 is sleeved between the telescopic mounting shaft rod 73 and the fixed mounting shaft rod 71, the movable bearing 75 is disposed on two end faces of the cleaning roller shaft 74, two ends of the cleaning roller shaft 74 are movably sleeved on the telescopic mounting shaft rod 73 and the fixed mounting shaft rod 71 through the movable bearing 75, the cleaning roller shaft 74 rotates on the dining table for cleaning, the cleaning is convenient, the cleaning roller shaft 74 can be retracted through the cylinder 72 for further detachment, the replacement is convenient, and the use convenience is.

To sum up, in the canteen robot integrating food delivery and cleaning, the arc-shaped movable cover plate 111 has a heat preservation function and good sealing performance, and the arc-shaped movable cover plate 111 capable of fixing a food plate can be opened and closed under the control of the control system 2 to facilitate food taking, the robot receives food ordering information and user position information of a user through the signal receiver 24 and transmits the food ordering information and the user position information to the path planning module 22, the path planning module 22 performs position positioning and path planning for the user position and transmits the food ordering information to the control module 21, the control module 21 controls the mobile assembly 5 to operate to drive the robot to go to the user position according to the path planning, when the food ordering user position is reached, the voice module 25 receives the position information from the control module 21, sends voice and prompts the food ordering user to take food, and during the food delivery and travel process of the robot, if the obstacle avoidance module 23 uses an infrared sensor and a temperature sensor to detect that the obstacle in front is a human body, the voice module 25 sends out an avoidance language prompt, the obstacle can be automatically avoided through the control system 2, the use safety of the robot is effectively improved, collision is prevented, the service life is prolonged, damage is reduced, the robot has a plurality of intelligent service functions of automatic meal delivery returning, accurate positioning, automatic navigation obstacle avoidance, voice prompt communication and the like, can replace or partially replace service staff to serve consumers, the working efficiency of a restaurant can be greatly improved, the expenditure of the restaurant is saved, the overall benefit of the restaurant is stably increased, the output push rod 355 is connected with the cleaning device 4, the air pump 351 conveys air into the pressure movable groove 353, under the application of pressure, the piston 354 drives the output push rod 355 to move in the pressure movable groove 353, therefore, the first tableware storage drawer 33 and the second tableware storage drawer 34 are ejected out and are used for storing tableware used by a user through control of stretching and retracting, the use comfort is improved, the robot is convenient to take, the robot controls the mechanical arm movement around the trunk through the control module 21, the left cleaning small arm 44 and the right cleaning small arm 48 sweep back and forth, the cleaning brush layer 481 cleans the tabletop, the cleaning sponge layer 441 cleans and wipes the tabletop, the garbage collection drawer 49 is ejected out through the stretching device 35 in the cleaning process of the mechanical arm and collects kitchen garbage swept down by the mechanical arm movement, after the mechanical arm cleans the tabletop, the garbage collection drawer 49 is retracted into the trunk through receiving the control module 21 instruction, the tabletop is effectively cleaned and tidied, the time and a large amount of manpower are saved, the working efficiency is improved, the garbage can be collected, and pollution is avoided, speed reducer 54 is connected with control system 2 electricity respectively with two-way motor 53, turn to through utilizing the two-wheeled differential, when increasing stably, reduce the energy loss, improve and turn to speed, satisfy the convenience of use, movable tripe 63 of dust absorption mouth 62 is in the open mode all the time, carry out the dust absorption clearance to the dining room ground through dust extraction 6, carry box 64 by half arc with the dust impurity of inhaling and filter and store, it is clean and tidy effectively to guarantee ground sensation at the during operation, improve cleaning efficiency, and half arc is carried box 64 detachably, be convenient for clear up inside filter equipment 65 and dust.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention.

Claims

1. The utility model provides a collection send meal and clean robot for dining room as an organic whole which characterized in that: including robot body (1), robot body (1) comprises machine head (11), fuselage (12) and lower disk body (13), and fuselage (12) are connected to the below of machine head (11), and lower disk body (13) are set up to the below of fuselage (12), the top of machine head (11) sets up arc movable cover plate (111), the inside of machine head (11) sets up control system (2), and subassembly (3) are placed in the inside setting of fuselage (12), and cleaning device (4) are installed to the both sides end of fuselage (12), the below of lower disk body (13) sets up removal subassembly (5), and the inside of lower disk body (13) sets up dust extraction (6), cleaning device (4), dust extraction (6), removal subassembly (5) and place subassembly (3) and all be connected with control system (2) electricity.

2. The robot for the dining room integrating food delivery and cleaning as claimed in claim 1, wherein: the control system (2) comprises a control module (21), a path planning module (22), an obstacle avoidance module (23), a signal receiver (24), a voice module (25) and a display (26), wherein the control module (21) is electrically connected with the path planning module (22), the obstacle avoidance module (23), the signal receiver (24), the voice module (25) and the display (26) respectively, the obstacle avoidance module (23) is electrically connected with the voice module (25), and the signal receiver (24) is electrically connected with the path planning module (22).

3. The robot for the dining room integrating food delivery and cleaning as claimed in claim 1, wherein: place subassembly (3) including first standing groove (31), second standing groove (32), drawer (33) are deposited to first tableware, drawer (34) and telescoping device (35) are deposited to second tableware, first standing groove (31) and second standing groove (32) are seted up in fuselage (12), the below of first standing groove (31) sets up second standing groove (32), the inside of first standing groove (31) sets up first tableware and deposits drawer (33), the inside of second standing groove (32) sets up second tableware and deposits drawer (34), the rear end that drawer (34) were deposited to first tableware and second tableware is connected with telescoping device (35).

4. The robot for the dining room integrating food delivery and cleaning as claimed in claim 3, wherein: the telescopic device (35) comprises an air pump (351), air pipes (352), pressure movable grooves (353), pistons (354), output push rods (355) and an outer shell (356), the air pump (351) is arranged above the outer shell (356), the air pipes (352) are connected above the air pump (351), the air pump (351) is connected with the pressure movable grooves (353) through the air pipes (352), the inner wall of each pressure movable groove (353) is connected with the pistons (354) in an attaching mode, the output push rods (355) are installed at one ends of the pistons (354), three groups of air pipes (352), the pressure movable grooves (353), the pistons (354) and the output push rods (355) are arranged, the air pump (351) is respectively connected with the three groups of pressure movable grooves (353) through the three groups of air pipes (352), electromagnetic valves are arranged on the three groups of air pipes (352), the two groups of output push rods (355) are respectively connected with a first tableware storage drawer (33) and a second tableware storage drawer (34), a group of output push rods (355) are connected with the cleaning device (4).

5. The robot for the dining room integrating food delivery and cleaning as claimed in claim 1, wherein: cleaning device (4) include left loose axle (41), big arm in a left side (42), left connecting axle (43), big arm in a left side clearance (44), right loose axle (45), big arm in a right side (46), right connecting axle (47), big arm in a right side clearance (48) and garbage collection steamer tray (49), big arm in a left side (42) are connected with fuselage (12) side through left loose axle (41), big arm in a left side (42) one end is passed through left connecting axle (43) and is connected with little arm in a left side clearance (44), big arm in a right side (46) are connected with fuselage (12) side through right loose axle (45), big arm in a right side (46) one end is passed through right connecting axle (47) and is connected with little arm in a left side clearance (44), garbage collection steamer tray (49) set up in placing fuselage (12) of subassembly (3) below, and fuselage (12) swing joint.

6. The robot for the dining room integrating food delivery and cleaning as claimed in claim 5, wherein: l type groove is seted up to the below of left side clearance forearm (44), and L type inslot of left side clearance forearm (44) below is installed clearance sponge layer (441), and L type groove is seted up to the below of right side clearance forearm (48), and clearance brush layer (481) are installed to the L type inslot of right side clearance forearm (48) below, and clearance sponge layer (441) and clearance brush layer (481) are all installed respectively in the below of left side clearance forearm (44) and right side clearance forearm (48) through mounting panel and screw.

7. The robot for the dining room integrating food delivery and cleaning as claimed in claim 1, wherein: the moving assembly (5) comprises a first roller (51), a second roller (52), a two-way motor (53), a speed reducer (54) and a rotating rod (55), the first roller (51) and the second roller (52) are in butt joint with the output end of the two-way motor (53) through the rotating rod (55), the rotating rod (55) is provided with the speed reducer (54), the output ends of the two ends of the speed reducer (54) are sleeved with the speed reducer (54), and the speed reducer (54) and the two-way motor (53) are respectively electrically connected with the control system (2).

8. The robot for the dining room integrating food delivery and cleaning as claimed in claim 1, wherein: dust extraction (6) are including dust absorption groove (61), dust absorption mouth (62), activity tripe (63), box (64) and filter equipment (65) are carried to half arc, and dust absorption groove (61) set up in lower disk body (13), and dust absorption mouth (62) have been seted up to the below of lower disk body (13), and the inside of dust absorption mouth (62) sets up multiunit activity tripe (63), and the side of dust absorption groove (61) sets up half arc and carries box (64), and the inside that box (64) was carried to half arc sets up filter equipment (65).

9. The robot for the dining room integrating food delivery and cleaning as claimed in claim 8, wherein: the filter device (65) comprises a preliminary filter layer (651), an interlayer (652), a fine filter layer (653) and an adsorption layer (654), wherein the interlayer (652) is arranged between the preliminary filter layer (651) and the fine filter layer (653), the adsorption layer (654) is arranged in the interlayer (652), and the semi-arc-shaped lifting box (64) is fixed with the lower disc body (13) in a pulling and clamping manner.

10. The robot for the dining room integrating food delivery and cleaning as claimed in claim 1, wherein: still set up a clearance subassembly (7) on cleaning device (4) of fuselage (12) side, clearance subassembly (7) include fixed mounting axostylus axostyle (71), cylinder (72), flexible installation axostylus axostyle (73), clearance roller (74) and loose bearing (75), cylinder (72) are fixed in cleaning device (4) one end, flexible installation axostylus axostyle (73) is connected to the output of cylinder (72), cup joint between flexible installation axostylus axostyle (73) and fixed mounting axostylus axostyle (71) and install clearance roller (74), clearance roller (74) both ends face sets up loose bearing (75), clearance roller (74) both ends all cup joint at flexible installation axostylus axostyle (73) and fixed mounting axostylus axostyle (71) through loose bearing (75.