CN204658457U - Tracking meal delivery robot - Google Patents
Tracking meal delivery robot Download PDFInfo
- Publication number
- CN204658457U CN204658457U CN201520373147.5U CN201520373147U CN204658457U CN 204658457 U CN204658457 U CN 204658457U CN 201520373147 U CN201520373147 U CN 201520373147U CN 204658457 U CN204658457 U CN 204658457U
- Authority
- CN
- China
- Prior art keywords
- cylinder
- robot
- chip microcomputer
- sensor
- stepping
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Abstract
The utility model discloses a kind of tracking meal delivery robot, is the integration product that mechanical electronic hydraulic combines.The utility model is made up of mechanical system, hydraulic system and control system; Described mechanical system comprises a driving wheel, direct current movable motor, stepping steer motor and sensor; Robot realizes the functions such as walking turning by mechanical system; Described hydraulic system comprises fuel tank, gear pump, direct current generator, vertically cylinder, horizontal cylinder and crawl cylinder; Realize looking for plate, catching plate by hydraulic system, and plate is delivered to the function of guest's dining table; Realized to the analysis of movement locus and detection in robot ambulation process by control system, and to the location of plate in process of serving a dish, there is feedback accuracy high, the advantages such as system run all right.The utility model structure is simple, and system cloud gray model is steady, low cost of manufacture, can save labour, solve the problem of human resources shortage for catering industry.
Description
Technical field
The utility model relates to mechanical-electrical-hydraulic integration field, in particular, relates to a kind of tracking meal delivery robot.
Background technology
Along with the quickening of modern industrialization process, mechanical automation becomes a kind of trend of society.Robot has been used to complete processing and the manufacture of production line in the industrial production in a large number.Along with people increasing material and cultural needs in life, robot has also entered among the life of people gradually.Especially at catering industry, the pressure slowing down enterprises using the labor that a good meal delivery robot can be good.But mostly present catering industry is to carry out work and food delivery with manpower, flow of the people is large, and working strength is high, to spirit and muscle power a kind of acid test beyond doubt of work personnel; Concerning enterprise, even if the very high price of flower is also difficult to keep work personnel here.But the technology content of this type of service is relatively low, and a large amount of wage labour personnel can cause again the irrational utilization of the talent, and human resources cause unnecessary waste, and employ manpower also can there is the hidden danger such as health.If develop a plant equipment of carrying out food delivery with robot replacement manpower, the recruitment that can reduce enterprise is undoubtedly difficult, and the problems such as operating pressure is large, also have further guarantee for food sanitation safe aspect.Enterprise also can avoid the expenses such as long-term cost high price employment service person, concerning enterprise being again an extra income.And replace manpower that dining room also can be made to become bright spot with robot, attract client, have good market prospects to the development of enterprise.Therefore, meal delivery robot will become the inexorable trend of following catering industry.
The transfer robot that tracks described in ZL201220116407.7 can only realize: people is placed on article on robot cover, and robot can arrive destination along the trajectory of specifying.By destination, personnel take object away, then return to the former road of its instruction.This robot is used for dining room significant limitation: robot size is little on the one hand, and the people sat at table needs to bend over just can get meal, particularly dish can not be delivered to above dining table automatically to client; Cover size is little on the other hand, once can only put a mess; 3rd its tracking is simple, can not meet the requirement of the many tables in dining room.
Utility model content
The purpose of this utility model is, overcome the deficiency of above-mentioned ZL201220116407.7 tracking transfer robot, provide a kind of tracking meal delivery robot with the more than enough table food delivery of manipulator energy, to reduce production cost, save labour, solve the shortage of low side human resources.
The utility model tracking meal delivery robot, tracking meal delivery robot, is characterized in that, described robot is made up of mechanical system, hydraulic system and control system;
Described mechanical system comprises a driving wheel, direct current movable motor, stepping steer motor and sensor; The outer cage being positioned at robot bottom installs intermeshing gear wheel and pinion, described driving wheel is arranged on gear wheel, driving wheel is driven to advance by direct current movable motor, stepping steer motor connects pinion, eight sensors coming a row are housed bottom gear wheel, the 9th sensor is separately equipped with in the dead ahead of driving wheel, the pinion rotation that stepping steer motor connects, and the gear wheel in the middle of driving and the driving wheel be arranged on gear wheel turn to; Outer cage upper surface is machine cap;
Described hydraulic system comprises fuel tank, gear pump, direct current generator, vertically cylinder, horizontal cylinder and crawl cylinder, fuel tank is placed on machine cap, installs direct current generator above fuel tank cap, and direct current generator is connected with gear pump by shaft coupling, the opposite side setting pressure table of described fuel tank cap, porous plug, magnetic valve and overflow valve, in fuel tank cap center fixed center axis, vertical cylinder and central shaft are connected and fixed, pillar one end is installed with machine cap and is connected, again the other end of dinner table and pillar is fixed, described vertical cylinder is through dinner table center, large clamping plate is installed at the expansion link top of vertical cylinder, horizontal cylinder is put into large clamping plate, with bolted large clamping plate, horizontal cylinder is fixed, the cylinder body of large leading truck and vertical cylinder is connected and fixed, the expansion link of vertical cylinder is positioned at large leading truck, little clamping plate is installed at the expansion link top of horizontal cylinder, crawl cylinder and little clamping plate are connected and fixed, the cylinder body of little leading truck and horizontal cylinder is connected and fixed, the expansion link of horizontal cylinder is positioned at little leading truck, keeping away barrier sensor is arranged in little leading truck front aperture,
The cylinder base of described crawl cylinder installs ring support, the top of mechanical finger is connected with ring support, the interstitial hole of described mechanical finger is connected with connecting rod one end, service plate alignment sensor cover is connected with another stomidium of connecting rod, service plate alignment sensor cover is connected with the expansion link screw-internal thread fit capturing cylinder by screw thread, is connected respectively by oil pipe with crawl cylinder, overflow valve, vertically cylinder, horizontal cylinder, Pressure gauge, fuel tank, magnetic valve;
Described control system comprises power unit, sensor, keeps away barrier inductor, service plate alignment sensor, magnetic valve, single-chip microcomputer, liquid crystal display, IR remote controller, relay and stepping steer motor driver; Sensor is connected to the corresponding input of single-chip microcomputer with the state of measuring robots off-track; Keep away barrier sensor to be connected to the corresponding input of single-chip microcomputer and to bump against preceding object thing to prevent robot; Service plate alignment sensor is connected to single-chip microcomputer respective input and controls manipulator searching vegetable dish; Relay is connected to the corresponding signal input part of single-chip microcomputer and controls mechanical system and hydraulic system; Liquid crystal display adopts 16 liquid crystal displays to be connected to the corresponding input of single-chip microcomputer to show corresponding control information; IR remote controller is used for inputting corresponding table number to infrared receiving terminal, and infrared receiving terminal is connected to single-chip microcomputer to start mechanical system and hydraulic system; Stepping steer motor driver is connected to the corresponding output end of single-chip microcomputer, and stepping steer motor is connected to the output of stepping steer motor driver; Direct current generator is connected to corresponding relay, by advance and the stopping of Control robot.
Its outer cage bottom periphery described installs four auxiliary universal caster wheels.
Described central shaft is fixed by key and shaft flange, and flanged (FLGD) vertical cylinder and shaft flange are bolted fixing.
Described by the pilot hole of four of ring support cylinders insertion crawl cylinders, baffle plate covers and captures cylinder top, by four of baffle plate borehole jacks on four cylinders of ring support, is tightened with nut.
Described power unit is made up of two pieces of 12V lead-acid batteries and 5V power supply, and two pieces of 12V lead-acid batteries provide power supply for whole control mechanical system and hydraulic system; Be that single-chip microcomputer is powered by 5V power supply.
Control system can realize turning to wheel, advance, stop and the control of hydraulic system, realizes the crawl to plate.Control system is also provided with infrared remote control program, when the power supply of robot is connected, utilizes remote controller to input corresponding table number, and robot just can start the corresponding table of arrival and realize food delivery process.The running gear of robot is realized by mechanical system, mechanical system is made up of a driving wheel, direct current generator, stepping steer motor, sensor, in order to make this robot architecture simple, flexible movements, the distinctive single wheel structure of its robot is utilized to realize straight line moving and the turning of wheel, structure simple and flexible; Install four auxiliary universal caster wheels additional in its shell surrounding, ensured that no matter it is to where moving and can stablize.Driving wheel is fixed by the gear wheel for motor counterweight, and stepping steer motor is fixed on pinion bracket loop, and eight sensors coming a row are housed bottom gear wheel.The track of robot tracking is black lines, the detection of sensor to black line is utilized to carry out the direction of travel of control, when robot offset track, the sensor in outside can detect black line, according to the difference of sensing station, sensor sends signal to control system, is rectified a deviation to robot by the single-chip microcomputer of control system.At this moment, wheel can, to turning the angle departed from the other direction, make driving wheel get back to the centre of track, a sensor is separately housed in the front of eight sensors, and when robot goes to appointment table, nine sensors detect black line simultaneously, robot stops walking, performs catching plate subprogram.Now finger opens, stepping steer motor rotates centered by driving wheel axis, manipulator performs and looks for plate action, service plate alignment sensor is equipped with at palm center, the height that plate is placed is higher than table top, and when service plate alignment sensor is right against table top, the detecting distance of service plate alignment sensor is less than table top, can not object be detected, continue to rotate.Forward to below plate once service plate alignment sensor, finger is turned back to plate center, and now hydraulic system starts.The motion of hydraulic cylinder is controlled with disconnection by the adhesive of the Single-chip Controlling relay of control system, then come elongation and the contraction of hydraulic control cylinder by the solenoid directional control valve be connected with relay.Vertical hydraulic cylinder stops after dropping to distance plate certain altitude by peak.Now capture hydraulic cylinder to shrink, manipulator captures plate.After having grabbed plate, hydraulic cylinder rotates back into initial position, and horizontal hydraulic cylinder extends, and vertical hydraulic cylinder declines, and when contacting with desk when trying to get to the heart of a matter, manipulator opens, and plate is put on desk.Robot arm retrieves afterwards, hydraulic system restPoses.Continue to perform catching plate subprocess, dinner table has four plates, and after plate grabbed successively by manipulator, the process of serving a dish terminates.Stepping steer motor turns around to revolve turnback, and linear electric motors start, and former road returns.Robot is equipped with obstacle avoidance apparatus, and when front runs into barrier, robot can stop walking automatically, in order to avoid bump against obstacle.After barrier is withdrawn, direct current generator can start again, continues to move ahead, return path initial position.Achieve the full intellectuality of food delivery.
The utility model structure is simple, designs ingenious, mechanical, electrical, liquid is perfectly combined, and hydraulic system has and operates steadily, and reliability is high, controls the advantages such as convenient; Manipulator adopts state-of-the-art 3D printing technique in the world, and material is light, and intensity is large, easy to process.Robot overall volume is similar to human body, movable light and handy, does not take up space, and in dining room, use is the choosing of the best.It is expensive that the utility model well solves the present recruitment of catering industry, the problem of recruitment difficulty, avoids causing unnecessary talent waste; The utility model easy accessibility, part has replaceability, greatly increases the maintenance efficiency of robot, reduces maintenance cost, can save fund, improve dining room running income for enterprise.The good appearance and modeling of the utility model is also for dining room increases the volume of the flow of passengers, improves income and possessed good basis.
Accompanying drawing explanation
Fig. 1 is tracking meal delivery robot overall appearance design sketch;
Fig. 2 is robot manipulator structure schematic diagram;
Fig. 3 is tracking meal delivery robot overall outer structure chart;
Fig. 4 is tracking meal delivery robot hydraulic scheme;
Fig. 5 is hydraulic cylinder structure top view;
Fig. 6 is control principle drawing.
In figure: 1 baffle plate, 2 capture cylinder, 3 supports, 4 alignment sensor covers, 5 connecting rods, 6 fingers, 7 overflow valves, 8 vertical cylinders, 9 keep away barrier sensor, 10 little clamping plates, 11 little leading trucks, 12 horizontal cylinder, 13 large clamping plates, 14 large leading trucks, 15 dinner tables, 16 pillars, 17 Pressure gauges, 18 direct current generators, 19 porous plugs, 20 universal wheels, 21 outer cages, 22 machine caps, 23 fuel tanks, 24 magnetic valves, flow speed control valve, check valve, 25 fuel tank cap, 26 gear pumps.
Detailed description of the invention
Below in conjunction with accompanying drawing and preferred embodiment, to according to detailed description of the invention provided by the utility model, structure, feature and effect thereof, be described in detail as follows.
The utility model tracking meal delivery robot, on the basis of its mobile machinery part based on patent " tracking transfer robot ", its patent No. is: ZL201220116407.7.
The utility model tracking meal delivery robot as Figure 1-5, fuel tank 23 is placed on machine cap 22, fuel tank cap 25 is welded with fuel tank 23, described fuel tank cap 25 installs direct current generator 18 above, direct current generator 18 is connected with gear pump 26 by shaft coupling, the opposite side setting pressure table 17 of described fuel tank cap 25, porous plug 19, magnetic valve 24, overflow valve 7, porous plug 19 possesses ventilative and oiling function.Flange is inserted in central shaft, with key, flange and central shaft are fixed.Flanged (FLGD) vertical cylinder 8 is bolted fixing with flange.Described pillar 16 is installed with machine cap 22 and is connected, then by the other end nut screwing clamping of dinner table 15 with pillar 16.Large clamping plate 13 is installed at the top of described vertical cylinder 8, horizontal cylinder 12 is put into large clamping plate 13, and with bolted large clamping plate 13, horizontal cylinder 12 is fixed, large leading truck 14 is connected and fixed with vertical cylinder 8, place horizontal cylinder 12 rotation, horizontal cylinder 12 and little clamping plate 10 are connected and fixed.Finger 6 and alignment sensor cover 4 are linked together by connecting rod 5 by described manipulator, the interstitial hole of finger 6 is connected with connecting rod 5, alignment sensor cover 4 is connected with another stomidium of connecting rod 5, alignment sensor cover 4 is connected with the cylinder bar screw-internal thread fit capturing cylinder 2 by screw thread, capture cylinder 2 as main body, the topped hole of finger 6 is connected with support 3, four of support 3 cylinders are inserted in the pilot hole capturing cylinder 2, the other end capturing cylinder is covered again with baffle plate 1, and by four of baffle plate 1 borehole jacks on four cylinders of support 3, tightened with nut, ensure that finger is fixed on to capture on cylinder 2.Crawl cylinder 2 with mechanical finger to be fixed on little clamping plate 10 and to connect clamping with bolt.Be arranged in horizontal cylinder 12 by little leading truck 11, little leading truck 11 front end has keeps away barrier gauge hole, will keep away barrier sensor 9 and be arranged in little leading truck 11 front aperture.Described oil pipe is connected with crawl cylinder 2, overflow valve 7, vertically cylinder 8, horizontal cylinder 12, Pressure gauge 17, fuel tank 23, magnetic valve 24; As shown in Figure 6, control system comprises power unit, sensor, keeps away barrier inductor, service plate alignment sensor, magnetic valve, single-chip microcomputer, liquid crystal display, IR remote controller, relay and stepping steer motor driver; Sensor is connected to the corresponding input of single-chip microcomputer with the state of measuring robots off-track; Keep away barrier sensor to be connected to the corresponding input of single-chip microcomputer and to bump against preceding object thing to prevent robot; Service plate alignment sensor is connected to single-chip microcomputer respective input and controls manipulator searching vegetable dish; Relay is connected to the corresponding signal input part of single-chip microcomputer and controls mechanical system and hydraulic system; Liquid crystal display adopts 16 liquid crystal displays to be connected to the corresponding input of single-chip microcomputer to show corresponding control information; IR remote controller is used for inputting corresponding table number to infrared receiving terminal, and infrared receiving terminal is connected to single-chip microcomputer to start mechanical system and hydraulic system; Stepping steer motor driver is connected to the corresponding output end of single-chip microcomputer, and stepping steer motor is connected to the output of stepping steer motor driver; Direct current generator is connected to corresponding relay, by advance and the stopping of Control robot.
To the course of work of the present utility model, details are as follows below:
The guide wire of wide bar line as its tracking that width is 45mm should be pasted or make to this tracking meal delivery robot before work on the ground of wanted operating space, because black is the most obvious for the absorption of light, white is the most weak to the absorption of light, so track is paved into black by suggestion, ground is that white effect is best.12V, 12Ah lithium battery that the power supply of this robot selects two pieces to connect, stepping steer motor connects 24V electricity, and direct current generator connects 12V electricity.After guide wire posts, the robot being full of electricity is placed on the start position of guide wire, and adjust the width position of eight sensors that gear wheel lower surface one is arranged, the right and left is made to lay respectively at the inside edge place of wide bar guide wire near the sensor of wheel, opening power enters state to be operated, four plates having contained dish are put on dinner table, first by single-chip microcomputer (MCU), clearing is initialized to liquid crystal display and infrared receiver, remote controller input setting table number, through infrared receiving terminal, signal is input in MCU, and is presented on liquid crystal display.With described above, to start the machine people with remote controller.Remote controller is utilized meal delivery robot input to be needed to the table number sent to, press acknowledgement key again, stepping steer motor and direct current generator start, this tracking meal delivery robot is driven to move along guide wire, sensor therebetween on gear wheel lower surface picks up two edges of guide wire respectively, when other two adjacent sensors enter guide wire, illustrate that robot deviate from orbit, sensor can send signal to single-chip microcomputer, now single-chip microcomputer can carry out reciprocal correction according to the relative position of sensor, the pinion connected by stepping steer motor rotates, gear wheel in the middle of driving and the wheel be fixed on gear wheel rotate, both sides are made to get back to guide wire inside near the sensor of wheel, wheel can advance along correct track.So constantly auto modification, keeps along correct the moving (should contain " stabilization " program in SCM program, namely in order to reduce or to avoid robot in snakelike advance in shake back and forth of constantly rectifying a deviation constantly) of guide wire.When it arrives at the fork of certain track, four sensors of wheel side will detect signal simultaneously, send a signal to single-chip microcomputer, and single-chip microcomputer gives counting to this signal, and judges that execution turn 90 degrees curved or moves on.When after the destination coordinate values reaching setting, single-chip microcomputer sends angle of turn instruction makes transfer robot send to certain destination coordinate location by instruction along guide wire turning.Relatively wide black region is posted at coordinate location.When eight sensors of a row detect black simultaneously, direct current generator stop motion, robot is parked in coordinate location, drive the dead ahead of bull wheel that the 9th sensor is separately housed, when these nine sensors detect black simultaneously, control system can send signal and make total relay adhesive, and hydraulic system enters treats duty, the electric motor starting of hydraulic control pump, hydraulic pump is started working.Each stroke of hydraulic cylinder is respectively by 6 points of Controls, and each point relay is connected with one end of solenoid directional control valve, the motion in one direction of Control hydraulic cylinder and stopping, and magnetic valve is used for the elongation of hydraulic control cylinder and contraction.Manipulator first carries out looking for plate process, crawl cylinder extends, manipulator opens, because the dinner table of robot self can rotate by affecting of gear wheel in motion process, so this process is divided into two kinds of situations: when (1) robot is parked in target location, time in the monitoring range of first plate captured just in time heart infrared ray sensor in the robot, manipulator is rotated clockwise to the edge of plate, when detection signal disappears, manipulator is rotated counterclockwise plate center (being controlled to plate center by time delay from plate edge), perform the sub-action of catching plate.(2) when robot is parked in target location, time in the monitoring range of first plate captured not heart infrared ray sensor in the robot, manipulator is rotated clockwise to the edge of plate, when infrared ray sensor detects plate, single-chip microcomputer start-up study program, forward plate center to, perform the sub-action of catching plate.The catching plate period of the day from 11 p.m. to 1 a.m, the relay and the reversal valve that control the decline of vertical cylinder start, and single-chip microcomputer makes manipulator drop to the height capturing plate by time delay, and the relay and the reversal valve that control the decline of vertical cylinder disconnect, the relay and the reversal valve that control the contraction of crawl cylinder start, and capture plate.After catching plate, the relay and the reversal valve that control the contraction of crawl cylinder disconnect, the relay and the reversal valve that control the rising of vertical cylinder start, hydraulic cylinder rises to peak, the relay and the reversal valve that control the rising of vertical cylinder disconnect, the relay that level of control cylinder extends and reversal valve start, horizontal cylinder reaches the longest, the relay that level of control cylinder extends and reversal valve disconnect, the relay and the reversal valve that control the decline of vertical cylinder start, when vertical cylinder drop to tray bottom wall contact with dining table time, the relay and the reversal valve that control the decline of vertical cylinder disconnect, the relay and the reversal valve that control the elongation of crawl cylinder start, manipulator opens, plate is placed on dining table.The relay and the reversal valve that control the rising of vertical cylinder start, hydraulic cylinder rises to peak, and the relay and the reversal valve that control the rising of vertical cylinder disconnect, and the relay that level of control cylinder shrinks and reversal valve start, horizontal cylinder is contracted to the shortest, completes process of once serving a dish since then.Capture second and third, four plates time, first can perform the situation (2) of looking in plate subprogram, then successively plate be delivered to dining table by the program of serving a dish.After completing the 4th process of serving a dish, the relay and the reversal valve that control the contraction of crawl cylinder start, and manipulator closes, and represents that the process of serving a dish terminates.The motor of hydraulic control pump shuts down, and hydraulic system is finished the work.Stepping steer motor drives the driving wheel in the middle of gear wheel to revolve turnback.Robot Yuan Lu is back to guide wire start position, and robot food delivery is complete.When plate quantity initial on dinner table is less than four, gripper of manipulator last plate complete, 0 degree can be turned clockwise, as plate do not detected at its process middle infrared (Mid-IR) sensor, control system terminates the process of serving a dish, the relay and the reversal valve that control the contraction of crawl cylinder start, and manipulator closes, and stepping steer motor drives the driving wheel in the middle of gear wheel to revolve turnback.Robot Yuan Lu is back to guide wire start position, and robot food delivery is complete.Piston rod due to hydraulic cylinder is cylinder, therefore can along with the rotation of axis while axially stretching, therefore in horizontal cylinder and be vertically provided with leading truck, to prevent from making movement locus depart from predeterminated target because of axial-rotation between the cylinder body of cylinder and piston rod.At the leading truck of horizon bar, infrared ray is housed foremost and keeps away barrier sensor, its detecting distance is 10cm, when robot run in motion process front have a barrier time, keep away barrier sensor will receive signal and send to single-chip microcomputer, single-chip microcomputer sends instruction, direct current generator stop motion, robot is parked in as you were; After being removed by barrier, single-chip microcomputer sends instruction, and direct current generator works on, robot setting in motion.This design can effectively avoid robot to knock pedestrian down in food delivery process, for client and robot provide safety guarantee.
This tracking meal delivery robot contrasts its structural design of traditional meal delivery robot following advantage:
(1) this robot have employed rechargeable lithium battary and powers convenient, flexible, alleviates the own wt of robot, and make battery charge once can for robot continuous firing one day, reliability is high.Guide wire in dining room can according to the planning and designing voluntarily of the needs in dining room, and modifiability is strong.
(2) process of serving a dish of this meal delivery robot adopts hydraulic system execution, and compare other meal delivery robot of society and plate can only be delivered to table, and can not realize serving a dish function, intelligence degree is higher, designs hommization more.
(3) hydraulic system stable movement, be easy to control, bearing capacity is strong, realizes process of serving a dish, before plate can be made to deliver to dining table more reposefully by hydraulic system.The phenomenon avoiding other meal delivery robot to cause food to topple over because system is unstable routing up.
(4) hydraulic system structure is simple, easy to adjust, staff can regulate flow speed control valve to control the speed of service of different hydraulic cylinder as required, under fixing delay state, staff also can according to the concrete flow speed control valve highly regulating vertical cylinder of dining table in dining room, to ensure the needs of differing heights dining table.
(5) the bracing frame central shaft on the gear wheel being rotated through bottom fixed drive wheel of manipulator and the vertical hydraulic cylinder that is connected with flange are connected and fixed.Achieve all rotations that stepping steer motor controls whole robot, its structure is more simple, controls convenient, decreases the production cost of robot.Robot can realize to the Automatic-searching of service plate and automatically location, capture, and service plate is delivered to appointment dining table automatically.From food delivery terminate to food delivery, omnidistance from main control, automaticity is higher, has surmounted other meal delivery robot of present stage.
(6) robot is based on tracking cart general principle, and the position of design arrangement nine sensors, realizes the walking of robot, location, turns, turns around.Control accuracy is high, has good feedback to the signal of monitoring.
(7) robot robot section adopts international advanced 3D printing technique, process simple and convenient, material is light, cost is low, compares traditional machining process, effectively overcome processing difficulties, loaded down with trivial details, quality large, high in cost of production shortcoming.
(8) robot good looking appearance, can attract client, becomes a spotlight in dining room.
Along with the further quickening of Chinese society development, nervous human resources will more trend towards high-end manual labor, the work of low side will gradually replace by robot.For catering industry, the needs in market have been widened in the appearance of robot undoubtedly, the service that people will more enjoy "smart" products and bring.The moulding of modern design and outward appearance uniqueness, just catered to the demand of current people to higher material and culture, added growing stronger day by day of current suitability for industrialized production, intelligentized meal delivery robot has become a large characteristic bright spot in dining room.In the near future, meal delivery robot will become the main flow service product of following catering industry.
Claims (5)
1. tracking meal delivery robot, is characterized in that, described robot is made up of mechanical system, hydraulic system and control system;
Described mechanical system comprises a driving wheel, direct current movable motor, stepping steer motor and sensor; The outer cage being positioned at robot bottom installs intermeshing gear wheel and pinion, described driving wheel is arranged on gear wheel, driving wheel is driven to advance by direct current movable motor, stepping steer motor connects pinion, eight sensors coming a row are housed bottom gear wheel, the 9th sensor is separately equipped with in the dead ahead of driving wheel, the pinion rotation that stepping steer motor connects, and the gear wheel in the middle of driving and the driving wheel be arranged on gear wheel turn to; Outer cage upper surface is machine cap;
Described hydraulic system comprises fuel tank, gear pump, direct current generator, vertically cylinder, horizontal cylinder and crawl cylinder, fuel tank is placed on machine cap, installs direct current generator above fuel tank cap, and direct current generator is connected with gear pump by shaft coupling, the opposite side setting pressure table of described fuel tank cap, porous plug, magnetic valve and overflow valve, in fuel tank cap center fixed center axis, vertical cylinder and central shaft are connected and fixed, pillar one end is installed with machine cap and is connected, again the other end of dinner table and pillar is fixed, described vertical cylinder is through dinner table center, large clamping plate is installed at the expansion link top of vertical cylinder, horizontal cylinder is put into large clamping plate, with bolted large clamping plate, horizontal cylinder is fixed, the cylinder body of large leading truck and vertical cylinder is connected and fixed, the expansion link of vertical cylinder is positioned at large leading truck, little clamping plate is installed at the expansion link top of horizontal cylinder, crawl cylinder and little clamping plate are connected and fixed, the cylinder body of little leading truck and horizontal cylinder is connected and fixed, the expansion link of horizontal cylinder is positioned at little leading truck, keeping away barrier sensor is arranged in little leading truck front aperture,
The cylinder base of described crawl cylinder installs ring support, the top of mechanical finger is connected with ring support, the interstitial hole of described mechanical finger is connected with connecting rod one end, service plate alignment sensor cover is connected with another stomidium of connecting rod, service plate alignment sensor cover is connected with the expansion link screw-internal thread fit capturing cylinder by screw thread, is connected respectively by oil pipe with crawl cylinder, overflow valve, vertically cylinder, horizontal cylinder, Pressure gauge, fuel tank, magnetic valve;
Described control system comprises power unit, sensor, keeps away barrier inductor, service plate alignment sensor, magnetic valve, single-chip microcomputer, liquid crystal display, IR remote controller, relay and stepping steer motor driver; Sensor is connected to the corresponding input of single-chip microcomputer with the state of measuring robots off-track; Keep away barrier sensor to be connected to the corresponding input of single-chip microcomputer and to bump against preceding object thing to prevent robot; Service plate alignment sensor is connected to single-chip microcomputer respective input and controls manipulator searching vegetable dish; Relay is connected to the corresponding signal input part of single-chip microcomputer and controls mechanical system and hydraulic system; Liquid crystal display adopts 16 liquid crystal displays to be connected to the corresponding input of single-chip microcomputer to show corresponding control information; IR remote controller is used for inputting corresponding table number to infrared receiving terminal, and infrared receiving terminal is connected to single-chip microcomputer to start mechanical system and hydraulic system; Stepping steer motor driver is connected to the corresponding output end of single-chip microcomputer, and stepping steer motor is connected to the output of stepping steer motor driver; Direct current generator is connected to corresponding relay, by advance and the stopping of Control robot.
2. tracking meal delivery robot according to claim 1, is characterized in that, described outer cage bottom periphery installs four auxiliary universal caster wheels.
3. tracking meal delivery robot according to claim 1, is characterized in that, described central shaft is fixed by key and shaft flange, and flanged (FLGD) vertical cylinder and shaft flange are bolted fixing.
4. tracking meal delivery robot according to claim 1, it is characterized in that, inserted by four of ring support cylinders in the pilot hole capturing cylinder, baffle plate covers and captures cylinder top, by four of baffle plate borehole jacks on four cylinders of ring support, tightened with nut.
5. tracking meal delivery robot according to claim 1, is characterized in that, described power unit is made up of two pieces of 12V lead-acid batteries and 5V power supply, and two pieces of 12V lead-acid batteries provide power supply for whole control system, mechanical system and hydraulic system; Be that single-chip microcomputer is powered by 5V power supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520373147.5U CN204658457U (en) | 2015-06-03 | 2015-06-03 | Tracking meal delivery robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520373147.5U CN204658457U (en) | 2015-06-03 | 2015-06-03 | Tracking meal delivery robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204658457U true CN204658457U (en) | 2015-09-23 |
Family
ID=54128887
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520373147.5U Expired - Fee Related CN204658457U (en) | 2015-06-03 | 2015-06-03 | Tracking meal delivery robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204658457U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104858873A (en) * | 2015-06-03 | 2015-08-26 | 天津商业大学 | Tracking meal delivering robot |
| CN105905371A (en) * | 2016-06-12 | 2016-08-31 | 武汉理工大学 | Disc-shaped fragile product packaging machine |
| CN106584468A (en) * | 2015-10-19 | 2017-04-26 | 沈阳新松机器人自动化股份有限公司 | Restaurant robot |
| CN110539821A (en) * | 2019-09-06 | 2019-12-06 | 燕山大学 | small pneumatic quadruped robot with automatic tracking function |
| CN110605723A (en) * | 2019-05-20 | 2019-12-24 | 江西理工大学 | Distributed system embedded robot with highly integrated modular design |
-
2015
- 2015-06-03 CN CN201520373147.5U patent/CN204658457U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104858873A (en) * | 2015-06-03 | 2015-08-26 | 天津商业大学 | Tracking meal delivering robot |
| CN104858873B (en) * | 2015-06-03 | 2016-08-24 | 天津商业大学 | Tracking meal delivery robot |
| CN106584468A (en) * | 2015-10-19 | 2017-04-26 | 沈阳新松机器人自动化股份有限公司 | Restaurant robot |
| CN105905371A (en) * | 2016-06-12 | 2016-08-31 | 武汉理工大学 | Disc-shaped fragile product packaging machine |
| CN105905371B (en) * | 2016-06-12 | 2018-11-23 | 武汉理工大学 | Plate-like fragile article packing machine |
| CN110605723A (en) * | 2019-05-20 | 2019-12-24 | 江西理工大学 | Distributed system embedded robot with highly integrated modular design |
| CN110539821A (en) * | 2019-09-06 | 2019-12-06 | 燕山大学 | small pneumatic quadruped robot with automatic tracking function |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104858873B (en) | Tracking meal delivery robot | |
| CN204658457U (en) | Tracking meal delivery robot | |
| CN105291086B (en) | Indoor mobile robot for food delivery | |
| WO2017004943A1 (en) | Smart mobile detection platform for greenhouse | |
| CN206909217U (en) | A kind of remote real-time monitoring Multifunctional flower case | |
| CN103676959A (en) | WiFi wireless control-based intelligent spraying robot | |
| CN108032300A (en) | Tracking meal delivery robot | |
| CN206509187U (en) | Reinforcement machine | |
| CN106477257B (en) | Trolley controlled by Android smart phone | |
| CN205674206U (en) | Automatic transporting machine people | |
| CN201690725U (en) | Online temporary storage mechanism | |
| CN107253687B (en) | Solar energy photovoltaic panel installation, which is promoted, faces upward rocker | |
| CN110393111B (en) | Agricultural multipurpose automatic spraying robot | |
| CN108522483B (en) | Agricultural is with strawberry medicine device that spouts | |
| CN104020790A (en) | Double-shaft hydraulic-type panorama solar automatic tracking device | |
| CN202038837U (en) | Oil tank lifting platform | |
| CN206521630U (en) | A kind of intelligent Outdoor clothes airing rack based on solar energy shrinks control system | |
| CN205944264U (en) | Automatic adorn electric core device | |
| CN204031946U (en) | A kind of solar energy intelligent agriculture in greenhouse booth equipment | |
| CN206585010U (en) | A kind of equipment of automatic dress battery core | |
| CN203211589U (en) | Overturning device of full-automatic nail arranging and superposing machine | |
| CN204430750U (en) | A kind of vehicle-containing assembly tool | |
| CN209018621U (en) | A kind of lift step sweeping robot | |
| CN205241154U (en) | A material storehouse of going up and down for saving interior outer lane | |
| CN207820918U (en) | A kind of greenhouse plant protection robot automatic guide and positioning device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150923 Termination date: 20160603 |